Model Predictive Control of Electro-Hydraulic Servo System with Unknown Disturbances
The electro-hydraulic servo system adopts the mathematical model of the valve controller doub-le-rod hydraulic cylinder.Based on the disturbance observer,a model predictive control scheme of model parameter changes is proposed for the problems of system nonlinearity,uncertainty and unknown disturb-ances.In order to handle the problem of the system nonlinear characteristics of the load flow and the time-varying load pressure of the valve-controlled double-rod hydraulic cylinder,a model predictive control strat-egy of time-varying model is adopted.The external disturbances and the uncertainty of the system modeling error and unmodeled friction are regarded as the unknown mixed system disturbances.The exponential con-vergent disturbance observer is used to observe the mixed disturbances online,and the observation results compensate the prediction model in real time.The simulation results show that the proposed method is ro-bust to the disturbances and uncertainty,and has high control accuracy.
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