Internal Model-Based Electro-Hydraulic Position-Force Composite Impedance Control Strategy
In hydraulic press,straightening machine and other hydraulic forming machinery and equipment,it is often necessary to control the position and pressure of the working mechanism at the same time.Because the position control and force control of electro-hydraulic servo system are different in mechanism,the switching between position control and force control will produce impact.Impedance control is an effective method to achieve smooth switching.Considering the characteristics of strong nonlinearity and time-varying parameters of electro-hydraulic force servo system,an impedance control strategy based on force internal model is proposed in this paper.Based on the mathematical model of valve-controlled cylinder force,the force internal model controller is designed.The control strategy realizes the smooth switching of position and force,and the force control has good dynamic response performance and strong robustness.
electro-hydraulic servo systeminternal modelcontrollerimpedance control strategy
万方数据
维普
