未知干扰下电液伺服系统模型预测控制
Model Predictive Control of Electro-Hydraulic Servo System with Unknown Disturbances
周成宝 1侯艳茹 2于存贵2
作者信息
- 1. 杭州智元研究院有限公司,杭州 310012
- 2. 南京理工大学机械工程学院,南京 210094
- 折叠
摘要
电液伺服系统采用阀控双出杆液压缸的数学模型,针对系统的非线性、不确定性与未知干扰等问题,提出一种基于干扰观测器的模型参数变化的模型预测控制方案.为了处理阀控双出杆液压缸负载流量系统非线性特性和负载压力时变的问题,采用预测模型时变的模型预测控制策略.把系统建模误差、未建模摩擦不确定性和外界扰动作为系统混合未知干扰,对混合干扰采用指数收敛干扰观测器进行在线观测,观测结果对预测模型进行实时补偿.仿真结果表明,所提方法对干扰和不确定性有很好的鲁棒性,具有较高的控制精度.
Abstract
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.
关键词
电液伺服系统/模型预测控制/干扰观测器/鲁棒性Key words
electro-hydraulic servo system/model predictive control/disturbance observer/robustness引用本文复制引用
出版年
2024
NETL
NSTL
万方数据