Model Following Adaptive Control Based on Reconfiguration Control for Electro-hydraulic Position Servo System
Aiming at the problem of chain reaction caused by component faults of electro-hydraulic position servo system,a reconfiguration controller based on model following adaptative control is proposed in this paper.According to the structure,working principles and typical component fault mechanisms of electro-hydraulic position servo system,its nominal model and fault model are established respectively.A model following adaptive reconfiguration controller is designed based on Lyapunov stability theory and model following theory.It does not need any advanced fault information,and only adjusts the parameters of the adaptive controller online according to the generalized error between the state of the fault system and the reference model,so that when the time tends to infinity,the generalized error signal gradually converges to zero.It can not only ensure the stability of the system,but also has the advantage of fast adaptive speed.The robustness and reconfiguration control capability of the method are verified by displacement tracking simulation under various fault cases.The modeling and control method proposed in this article has reference value for future research on recomfigurable control of electromechanical systems.
electro-hydraulic position servo systemmodel following adaptative controlcomponent faultsreconfiguration controlfault modeling
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