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基于鲁棒线性逼近的电液伺服系统精确位置控制研究
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吉林省科技发展计划资助项目(20160204016GX); 吉林省教育厅“十三五”科学技术项目(JJKH20170626KJ)


Research on Accurate Position Control of Electro-hydraulic Servo System Based on Robust Linear Approximation
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    摘要:

    通过对非线性时不变系统进行分析,提出了一种鲁棒线性逼近的电液伺服系统精确位置控制方法。基于电液伺服控制系统的模型,得到了其非线性动力学方程。在此基础上设计了鲁棒H∞方法,并引入图解法和整体凸映射方法求解控制器的模型,用于电液伺服系统的位置控制;通过分析非线性时不变系统,找出线性化误差出现的起因;在泰勒级数展开式的基础上,对减小线性化误差的方法进行了研究;联合图解法以及整体凸映射方法,从构造多面体和构造网格的角度出发,研究线性化不确定度问题,用于减小线性化误差。实验结果表明:所提方法对位置控制的性能较好,超调量较小、调节速度较快、准确度较高。

    Abstract:

    A precise position control method of electrohydraulic servo system based on robust linear approximation was proposed by analyzing the nonlinear timeinvariant system. The nonlinear dynamic equation was obtained based on the model of electrohydraulic servo control system. On this basis, the robust H∞ method was designed, and the graphical method and the global convex mapping method were introduced to obtain the controller model, which could be used to control the position of the electrohydraulic servo system. The cause of linearization error was found out by analyzing the nonlinear timeinvariant system. On the basis of Taylor series expansion, the method of reducing the linearization error was studied. Combined with the graphic method and global convex mapping method, the problem of linearization uncertainty was studied from the perspective of constructing polyhedron and mesh to reduce the linearization error. The experimental results show that the proposed method has better performance in position control, smaller overshoot, faster adjustment speed and higher accuracy in the process of position control.

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刘振波,路全新,闫玉峰.基于鲁棒线性逼近的电液伺服系统精确位置控制研究[J].机床与液压,2020,48(13):155-160.
LIU Zhenbo, LU Quanxin, YAN Yufeng. Research on Accurate Position Control of Electro-hydraulic Servo System Based on Robust Linear Approximation[J]. Machine Tool & Hydraulics,2020,48(13):155-160

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  • 在线发布日期: 2020-11-30
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