Nonlinear Model Predictive Control of Electro-Hydraulic Servo Based on Parameter Identification
Aiming at the problems of nonlinearity,model uncertainty and constraints in electro-hydraulic servo system,a nonlinear model predictive control method based on parameter identification is proposed.The model parameters of electro-hydraulic servo system are identified by recursive least square method to overcome the uncertainty of the model.Based on the results of model parameter identification,the perform-ance index function is constructed considering the load flow nonlinearity and requirements of control quanti-ty constraint and state constraint.The nonlinear model predictive control method is designed,and the closed-loop stability analysis is carried out.The simulation results show that the identification method can quickly estimate the model parameters,the maximum estimation error is 1.802%,and the maximum trajectory tracking error of the control algorithm is reduced by 88.66%compared with PID control.The proposed method can effectively deal with system constraints and nonlinearity,and has good control effect.
electro-hydraulic servo systemnonlinear model predictive controlrecursive least squares methoduncertainty
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