Aiming at the problems of parameter uncertainty and unknown external disturbance in electro-hydraulic servo system,an electro-hydraulic servo position tracking control method based on reference model is proposed.Firstly,according to the nonlinear equation of electro-hydraulic servo system,the state space model of the system is estab-lished,and the control system structure composed of ideal reference model and total disturbance is constructed.Then,combined with the state space model of electro-hydraulic servo system,the ideal reference model and dis-turbance observer are designed respectively to realize the output of the reference model,which can accurately track the given input signal and observe the total disturbance of the system.Finally,the control law is designed to effec-tively compensate the total disturbance and accurately track the output of the actual system to the output of the refer-ence model.The simulation and experimental results show that,compared with the traditional proportional-integral-derivative(PID)control method,the reference model based disturbance observer can effectively improve the sys-tem control accuracy and reduce the system dynamic control error,and can realize the accurate tracking of the given input signal.
关键词
电液伺服系统/跟踪控制/扰动观测器/参考模型
Key words
electro hydraulic servo system/tracking control/disturbance observer/reference model
维普
万方数据