For the third order electro-hydraulic servo system with high nonlinear and parameter uncertainty,an Extended Auto-Coupling PD control method based on the Auto-Coupling PID control theory is proposed.By defining the internal dynamics and external uncertainties of the electro-hydraulic servo system as total disturbances,the third-order nonlinear system is equivalently mapped to a third-order linear disturbance system,forming a controlled error system under total disturbance excitation.Based on the adaptive speed factor,an extended Auto-Coupling PD controller is designed,and theoretical analysis shows that the extended Auto-Coupling PD closed-loop control system has good robust stability and disturbance resistance robustness.The simulation results show that the proposed control method not only has high dynamic response speed,but also high steady-state control precision,so it has a good practical application prospect in the field of electro-hydraulic servo system.
关键词
电液伺服/扩展自耦PD/3阶非线性系统/总扰动/自适应速度因子
Key words
electro-hydraulic servo/extended auto-coupling PD/third order nonlinear system/total disturbance/adaptive speed
维普
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