Application of a New Adaptive Robust Controller Design Method to Electro-hydraulic Servo System
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摘要: 提出了一种自适应鲁棒控制器设计新方法, 并运用在阀控缸电液位置伺服系统中.首先, 将含有确定、不确定、已知、未知、线性和非线性项的电液伺服系统进行完整地数学建模, 以状态空间的形式表出.然后利用本文所提的新方法设计自适应鲁棒控制器和相应的自适应律来处理所建模型中的各项元素.该控制器通过设计一个带有虚拟控制量的控制状态空间表达式并结合状态观测器来获得.设计合适的虚拟控制量, 可在任意给定条件下, 使所有的系统状态都收敛到所设计的理想状态.接着设计李亚普诺夫函数来证明闭环系统的稳定性.最后建立硬件实验平台与经典自适应鲁棒控制方法进行对比实验验证此自适应鲁棒控制器设计新方法的有效性和优势.Abstract: This paper proposes a new design method of adaptive robust controller and applies it to a valve-control-cylinder electro-hydraulic servo system. Firstly, the system is fully derived in the state-space form, which includes all the certain, uncertain, known, unknown, linear and nonlinear terms of the system. Then the adaptive robust controller designed by the new method is employed, together with the chosen adaption laws, to deal with all the elements of the modeled mathematical system. The proposed controller is obtained by designing a control state-space expression with auxiliary control components and a state observer. Under an arbitrary given trajectory, all the system states will converge to the desired states through designing the appropriate auxiliary control components. Lyapunov method is utilized to strictly prove the convergence and stability of the system. Finally, a hardware platform of the system is set up and comparative experiments with the adaptive robust controller are implemented to verify the effectiveness and advantages of the proposed method.
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Key words:
- Adaptive robust /
- state observer /
- electro-hydraulic /
- uncertainties /
- nonlinear
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图 2 阀控缸电液位置伺服系统实验平台
Fig. 2 The experimental platform of valve-control-cylinder electro-hydraulic position servo system
图 5 对比实验负载力估计曲线和压力曲线
Fig. 5 The load force estimations and actual pressures of comparative experiments
表 1 电液伺服系统硬件配置
Table 1 The hardware of electro-hydraulic servo system
组件 型号与参数 伺服电机 MDME152GCGM 泵 MCY14-13 溢流阀 Rexroth 伺服阀 FF-101/8 位移传感器 LVDT(WY-100L) 压力传感器 TRAFAG8251.84.25.17/NAT4000A 控制器 TMS320F28335 液压缸 $L$ : 100 mm, $D$ (piston): 20 mm, $D$ (rod): 10 mm 
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表 2 系统参数
Table 2 The system parameters
参数 值/单位 参数 值/单位 $ {P_s}$ $ 9 {\rm MPa}$ $ {C_d}$ $ 0.62$ $ {P_r}$ $ 0 {\rm MPa}$ $ W$ $ \pi /4 \times {10^{ -3}} {\rm {m^2}/m}$ $ {A_1}$ $ 3.14 \times {10^{ -4}} {\rm {m^2}}$ $ {C_{tm}}$ $ 1 \times {10^{ -5}} {\rm {m^3}/s/MPa}$ $ {A_2}$ $ 2.355 \times {10^{ -4}} {\rm {m^2}}$ $ {C_{em1}}$ $ 1 \times {10^{ -8}} {\rm {m^3}/s/MPa}$ $ {V_{10}}$ $ 8.5 \times {10^{ -5}} {\rm {m^3}}$ $ {C_{em2}}$ $ 1 \times {10^{ -8}} {\rm {m^3}/s/MPa}$ $ {V_{20}}$ $ 5.36 \times {10^{ -5}} {\rm {m^3}}$ $ \rho $ $ 870 {\rm kg/{m^3}}$ $ {\beta _e}$ $ 690 {\rm MPa}$ $ {k_v}$ $ 0.25 {\rm m/A}$ $ M$ $ 20 {\rm kg}$ $ {\tau _v}$ $ 0.008 {\rm s}$
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