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.
关键词
电液伺服系统/内模/控制器/阻抗控制策略
Key words
electro-hydraulic servo system/internal model/controller/impedance control strategy
维普
万方数据