力干扰下的电液位置系统自适应鲁棒控制

Adaptive Robust Control of Electro-hydraulic Position System Under Force Disturbance

在建立整个电液位置伺服系统的非线性方程中,由于未考虑到外界的未知干扰和建模过程中参数的变化,即液压缸黏性阻尼系数、液压缸总泄漏系数、液压油弹性体积模量会随外负载、工作温度等不同条件发生变化,模型的准确性会受到影响。通过自适应的方法让相应的参数实时变化,提高整个系统的稳定性。通过干扰观测器补偿外界的未知状况,从而提高整个系统的鲁棒性。通过对设计的控制器进行试验,实现对干扰的抑制。试验结果显示,该控制器对电液位置伺服系统的鲁棒性有明显的提高。

In establishment of nonlinear equation of electro-hydraulic position servo system,since unknown disturbance of outside world and change of physical parameters during a modeling process,i.e.viscous damping coefficient of hydraulic cylinder,total leakage coefficient of hydraulic cylinder,and elastic bulk modulus of hydraulic oil will change with different conditions such as external load and operating temperature,the accuracy of model will be affected.The stability of the whole system is improved by an adaptive method to make the corresponding parameters change in real time,and a disturbance observer is used to compensate some unknown conditions of outside world to improve the robustness of the system.Through experiment of the designed controller,we simulate the position adaptive robust control under strong interference to suppress the interference.The experiments show that the controller can effectively improve the robustness of electro-hydraulic position servo system.