Long Short-term Memory Prediction Anti-disturbance Backstepping Control of Valve Controlled Hydraulic Motor Position Servo System
Aiming at the time delay and frictional nonlinearity in the position servo system of valve-controlled hydraulic motor,a long short-term memory predictive anti-disturbance backstepping control is designed.Firstly,long short-term memory is introduced into the control to predict the current position trajectory,and the predicted value is fed back to the controller to compensate the delay directly.The frictional nonlinearity which is difficult to model in the system is regarded as disturbance,which is estimated by designing an extended state observer,and the estimated total disturbance is compensated by backstepping control.Finally,the long short-term memory predictive disturbance rejection and backstepping control is built in Simulink for simulation verification.By comparing with radial basis function sliding mode control algorithm,backstepping control algorithm and auto-disturbance rejection control algorithm,it is proved that the control algorithm proposed in this paper is effective in controlling the position servo system of valve-controlled hydraulic motor with time delay and frictional nonlinearity.It has fast response speed and good tracking performance.
valve controlled hydraulic motor position systemlong short-term memory neural networkbackstepping controlextended state observer
万方数据
维普
