WO2022121507A1 - Procédé de commande à faible complexité pour système de suivi de position servo-hydraulique asymétrique - Google Patents

Procédé de commande à faible complexité pour système de suivi de position servo-hydraulique asymétrique Download PDF

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WO2022121507A1
WO2022121507A1 PCT/CN2021/124567 CN2021124567W WO2022121507A1 WO 2022121507 A1 WO2022121507 A1 WO 2022121507A1 CN 2021124567 W CN2021124567 W CN 2021124567W WO 2022121507 A1 WO2022121507 A1 WO 2022121507A1
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bounded
servo
hydraulic
error
hydraulic system
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PCT/CN2021/124567
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Chinese (zh)
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刘爽
王文波
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燕山大学
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Definitions

  • the invention relates to the field of servo hydraulic position control, in particular to a low-complexity control method for an asymmetric servo hydraulic position tracking system.
  • Servo hydraulic systems have the advantages of excellent load efficiency, small power ratio, and fast response speed, so they are widely used in modern industries (such as active suspension systems, hydraulic excavators, manipulators).
  • the servo hydraulic system includes two kinds of hydraulic actuators, the symmetrical hydraulic actuator with double rod and the asymmetric hydraulic actuator with single rod.
  • active suspension control research the areas of the two oil chambers are often considered equal, and a symmetrical hydraulic actuator is used.
  • asymmetric servo hydraulic systems due to the existence of the piston rod, the effective areas of the rod cavity and the rodless cavity of the hydraulic cylinder are not equal, and the symmetrical hydraulic actuator that can achieve the same performance is often larger than the asymmetric hydraulic actuator. It is used in a few special occasions, and widely used in industry is asymmetric hydraulic actuators. Therefore, it is unreasonable to place symmetrical hydraulic actuators in the vehicle suspension system with great space limitations.
  • the asymmetric servo hydraulic system is a complex nonlinear system, and it involves various uncertainties, such as load changes, parameter uncertainties, and unknown nonlinearities, which will lead to modeling and design control. Therefore, for asymmetric servo-hydraulic systems, high-precision position control is facing a huge challenge.
  • the parameter uncertainties mainly include leakage coefficient, oil film viscosity and viscous friction coefficient
  • the unknown nonlinearity mainly includes spool dead zone and external disturbance, which hinder the development of high-performance controllers.
  • many control techniques have been developed in the past ten years, such as neural network adaptation, fuzzy logic control, robust adaptive control, and backstepping adaptive control.
  • Bechlioulis CP, Rovithakis GA, et al. initially proposed novel controller design methods that can guarantee tracking error transient performance.
  • the transient and steady-state performance of tracking error is specified by introducing a specified performance function, and the original system with constraints is equivalent to an unlimited system by introducing error transformation.
  • This idea is further applied to high-order nonlinear fault-tolerant control systems, hydraulic servo systems, and suspension systems.
  • the control schemes are all combined with adaptive control methods to deal with unknown dynamics in the system.
  • the servo hydraulic system and its position control method have the following shortcomings: 1.
  • the single-rod nonlinear servo hydraulic system is a typical complex nonlinear system, which involves load changes, parameter uncertainty and unknown Because of the nonlinearity and other problems, there is a huge gap between the establishment of the theoretical model and the actual system, which leads to the difficulty and complexity of designing the controller; 2.
  • Most of the current servo-hydraulic position control methods are based on backstep control adaptive However, these control methods have a high degree of dependence on the model, and in the process of backstepping design of high-order systems, a large amount of calculation will be generated, and the online learning of uncertain parameters is not conducive to actual experiments.
  • the present invention discloses a low-complexity control method for an asymmetric servo-hydraulic position tracking system, including the following steps: S1: establishing a servo-hydraulic system model of a single-exit rod; S2: according to the single-exit rod S3: According to the controller of the servo hydraulic system with a single rod and the model of the servo hydraulic system with a single rod, it is proved that the single output rod The stability of the servo-hydraulic system of the rod.
  • the process of establishing the model expression of the servo-hydraulic system of the single rod is as follows: establish the dynamic model of the hydraulic cylinder according to Newton's second law:
  • f(t) represents various disturbances
  • x and m represent the position and mass of the load respectively
  • B is the viscous damping coefficient
  • K is the equivalent spring stiffness of the load, when the load is an inertial load
  • K 0
  • P 1 , P 2 are the pressures of the large and small chambers of the hydraulic cylinder
  • a 1 , A 2 are the effective areas of the pistons of the large and small chambers
  • the load pressure dynamics is expressed by the following formula:
  • C t is the leakage coefficient inside the hydraulic cylinder, and C e is the external leakage coefficient of the hydraulic cylinder.
  • ⁇ e is the elastic modulus of oil;
  • Q 1 is the hydraulic oil flow rate with rod cavity,
  • Q 2 is the hydraulic oil flow rate without rod cavity;
  • P s is the oil supply pressure of the hydraulic system
  • P r is the oil return pressure of the hydraulic system
  • C d is the flow coefficient of the orifice
  • w is the area gradient of the spool valve
  • ⁇ is the oil density
  • x v is the spool of the servo valve
  • ⁇ is the time constant of the servo valve dynamics model, and u(t) is the current input; considering the spool displacement ⁇ (x v ) with an unknown dead zone, its expression is as follows:
  • the parameters m r and m l represent the left and right slopes of the dead zone characteristic curve, and the parameters br and b l represent the breakpoints of the input nonlinearity;
  • ⁇ 1 , ⁇ 2 , ⁇ 3 are virtual control variables
  • x 1r is the command signal of the hydraulic position tracking system
  • z 1 is the position tracking error
  • the controller of the servo hydraulic system is:
  • the standardized error vector has a maximum solution in the non-empty open set ⁇ ⁇ in the time period t ⁇ [0, ⁇ max ): the non-empty open set ⁇ ⁇ , select the performance function
  • ⁇ i satisfy: ⁇ i (0)>min ⁇ -i , ⁇ - i ⁇
  • , i 1...4, we can get:
  • V 1 V 01 +A 1 x
  • V 2 V 02 -A 2 x
  • a safety margin is reserved, that is, according to the physical structure, the hydraulic cylinder can fluctuate up to 12 cm up and down near the neutral position, and the amplitude of the command signal is less than or equal to 10 cm to ensure h 1 h 2 h 3 is bounded, that is, there are three positive numbers respectively make
  • the present invention provides a low-complexity control method for an asymmetric servo-hydraulic position tracking system, which can solve various uncertainties in the hydraulic system (eg, unknown friction effects, variable parameters, etc.). Determined and load changes) and unknown nonlinear problems (such as spool dead zone, external disturbances), the design of the controller does not rely on an accurate mathematical model, only the state signal that can be measured, the calculation of the control rate is consistent with the existing in Compared with the algorithm developed on the basis of backstepping adaptation, the calculation process is simple, the amount of calculation is small, it is convenient for real-time control, and it is easier to realize engineering; the invention can ensure the convergence speed and steady-state accuracy of tracking error; finally, the experimental results show that, Compared with the traditional pid control method, the position tracking effect of the present invention has higher steady-state precision and smaller tracking displacement phase lag.
  • uncertainties in the hydraulic system eg, unknown friction effects, variable parameters, etc.
  • unknown nonlinear problems such as spool dead zone, external disturbances
  • the degree of control displacement hysteresis is basically unchanged, the tracking error always converges within the specified boundary, and the amplitude is basically not attenuated.
  • the displacement tracking error of the pid algorithm is larger, and the control algorithm of the present invention can still ensure that the tracking error converges within the specified boundary, the degree after the phase is small, and the amplitude is basically not attenuated.
  • Fig. 1 is a kind of low-complexity control method flow chart for the asymmetric servo hydraulic position tracking system of the present invention:
  • Figure 2 is a model block diagram of a servo hydraulic system with a single rod
  • Figure 3(a) is the structure composition diagram I of the experimental platform
  • Figure 3(b) is the structural composition diagram II of the experimental platform
  • Figure 3(c) is the structural composition diagram III of the experimental platform
  • Figure 3(d) is the structural composition diagram IV of the experimental platform
  • Fig. 4 is the error convergence simulation curve graph under the action of the controller of the present invention.
  • Fig. 5 is the simulation curve diagram of tracking error convergence under disturbance action
  • Fig. 6 is the simulation curve diagram of error convergence under the action of unknown spool dead zone
  • Fig. 7 is a simulation curve diagram of spool displacement under the action of unknown spool dead zone
  • FIG. 8 is a simulation graph showing the comparison of error convergence between the control method of the present invention and the adaptive backstepping control mode (SPPFBSA) with unknown dead zone of the spool that satisfies the specified performance;
  • SPPFBSA adaptive backstepping control mode
  • Fig. 9 is a statistical diagram of control method of the present invention and SPPFBSA simulation calculation time and error adjustment time;
  • FIG. 1 is a flowchart of a low-complexity control method for an asymmetrical servo hydraulic position tracking system of the present invention: a low-complexity control method for an asymmetrical servo-hydraulic positional tracking system, comprising the following steps: S1: establish a Servo hydraulic system model; Figure 2 is a block diagram of the servo hydraulic system model with a single output rod; S2: According to the servo hydraulic system model of a single output rod, the controller of the single output rod servo hydraulic system is designed with a low-complex control strategy; S3: According to the controller of the single-rod servo-hydraulic system and the model of the single-rod servo-hydraulic system, the stability of the single-rod servo-hydraulic system is proved.
  • P s is the oil supply pressure of the hydraulic system
  • P r is the oil return pressure of the hydraulic system
  • C d is the flow coefficient of the orifice
  • w is the area gradient of the spool valve
  • ⁇ is the oil density
  • x v is the spool displacement of the servo valve ;
  • the indeterminate parameter leakage coefficient Ct is bounded, that is make
  • the uncertain parameter leakage coefficient C e is bounded, that is, make
  • the uncertain parameter oil elastic modulus ⁇ e is bounded, namely make
  • the spool displacement x v of the servo valve is actually controlled by the voltage or current input u to obtain the required corresponding force.
  • the dynamic characteristics of the servo valve are as follows:
  • ⁇ is the time constant of the servo valve dynamics model and u(t) is the current input.
  • the parameters m r and m l represent the left and right slopes of the dead zone characteristic curve, and the parameters br and b l represent the breakpoints of the input nonlinearity;
  • the servo valve is a key mechanical component in the electro-hydraulic actuator.
  • the current or voltage controls the displacement of the spool of the servo valve, and then controls the hydraulic oil to be drawn in or out of the oil chamber, and finally the actuator performs the corresponding movement; obviously, in the servo valve
  • In the hydraulic position tracking system there must be a nonlinear problem of the dead zone of the spool. Therefore, it is necessary to consider the adverse effects of this problem to obtain better system performance; in addition, considering that it is difficult to obtain an accurate slope of the dead zone model in practical applications and interval points, so a robust and strong novel control strategy is proposed to solve this problem;
  • ⁇ 1 , ⁇ 2 , ⁇ 3 are the virtual control quantities obtained in the subsequent proof process
  • x 1r is the command signal of the hydraulic position tracking system
  • z 1 is the position tracking error
  • four positive smooth decreasing functions is selected as the specified performance function
  • the virtual control function is selected as follows:
  • the controller of the servo hydraulic system is:
  • the virtual controller and the controller of the servo hydraulic system can ensure that the closed-loop signal is bounded as follows:
  • V 1 V 01 + A 1 x
  • V 2 V 02 -A 2 x
  • h 1 h 2 h 3 bounded, that is, there are three positive numbers respectively.
  • ⁇ :R+ ⁇ ⁇ ⁇ R n is a continuous function vector
  • ⁇ ⁇ ⁇ R n is a non-empty open set
  • Definition 1 A solution ⁇ (t) of the initial value problem (50), without proper right extension, the solution is the largest;
  • the initial value theorem is as follows: For the initial value problem (12), if ⁇ (t, ⁇ ) satisfies: (1) when t>0, ⁇ (t, ⁇ ) satisfies the local Lipschitz condition for ⁇ ; (2) for ⁇ (t) ⁇ ⁇ , ⁇ (t, ⁇ ) is piecewise continuous; (3) For ⁇ (t) ⁇ ⁇ , ⁇ (t, ⁇ ) is locally integrable with respect to t; then in the time period t ⁇ [ 0, ⁇ max ), there is a solution to the initial value problem (50) ⁇ (t) ⁇ ⁇ , where ⁇ max >0.
  • the initial value proposal is as follows: Assuming the initial value theorem holds; for the maximum solution ⁇ (t) on the time period [0, ⁇ max ) and the set When ⁇ max ⁇ , there exists a time constant t 1 ⁇ [0, ⁇ max ) such that
  • the experimental platform is built, and the experimental software program is debugged.
  • the experimental platform is mainly divided into two parts: software design and hardware circuit connection;
  • Fig. 3 (a) is the structural composition diagram I of the experimental platform;
  • Fig. 3(b) is the structural composition of the experimental platform II;
  • Fig. 3(c) is the structural composition of the experimental platform III;
  • Fig. 3(d) is the structural composition of the experimental platform IV;
  • the hardware of the experimental platform is mainly divided into three parts, the first part is
  • the actuator mainly includes a hydraulic source system (such as accumulator, hydraulic pump, etc.), a servo valve and a single-rod hydraulic cylinder actuator.
  • the experimental platform of the present invention adopts a three-position five-way servo valve, and its model is FD234-01K004VSX2A .
  • the second part is the signal acquisition mechanism.
  • the hardware of the signal acquisition mechanism is mainly the signal conversion board and the A/D board.
  • the function of the signal conversion board is to convert the voltage and current signals to each other. Specifically, the sensor signal 4-20ma current signal is converted into 1-5v voltage signal, convert the voltage signal of ⁇ 5v to the current signal of ⁇ 10ma, the A/D board used in the experiment platform of the present invention is ADT882, its function is to realize the mutual conversion of analog continuous signal and digital discrete signal .
  • the third part is the control mechanism.
  • the core of the control mechanism is the industrial control computer.
  • the experimental platform of the present invention adopts the industrial computer pc104, and its function realizes the construction of the software platform and the realization of the control algorithm.
  • the hardware line connection mainly refers to the connection between each sensor signal line and the servo valve control current signal line and the signal conversion board, and the connection between the signal conversion board and the ADT882 board.
  • the software design environment is VC++6.0, window operating system, the software program mainly includes writing interface functions, configuring A/D board, setting interrupt program to complete signal acquisition, control quantity calculation and output;
  • the initial value of the boundary ⁇ i0 should be as large as possible, the upper bound of the error convergence rate hi should be as small as possible, and the upper bound of the steady-state residual set of the convergence error should be as large as possible;
  • the second step adjust the virtual control rate gains k 1 , k 2 , k 3 , k 4 , when the control rate gain ki is adjusted to an appropriate value;
  • the third step slowly and appropriately reduce the initial value of the boundary ⁇ i0 , increase the upper bound hi of the error convergence rate, and reduce the steady-state residual error of the convergence error Set the upper bound value ⁇ i ⁇ until the desired control effect is achieved.
  • Fig. 4 is the simulation curve diagram of error convergence under the action of the controller of the present invention, as can be seen from Fig. 4, the controller of the present invention can ensure the convergence speed and control accuracy of the displacement tracking error;
  • the controller of the present invention has a strong inhibitory effect on strong disturbances, and can still ensure the transient and steady-state performance of the convergence error.
  • Figure 6 is the simulation curve of error convergence under the action of unknown spool dead zone
  • Figure 7 is the simulation curve of spool displacement under the action of unknown spool dead zone
  • Figures 6 and 7 verify the low-complexity control scheme proposed in this paper It has better robustness to deal with unknown spool dead zone problem.
  • the unknown dead zone nonlinearity of the valve core is added to the system model.
  • Fig. 8 is a comparative simulation graph of error convergence between the control method of the present invention and the adaptive backstepping control method (SPPFBSA) with unknown dead zone of the spool that meets the specified performance
  • Fig. 9 is the simulation calculation time and error of the control method of the present invention and SPPFBSA Adjustment time statistics chart; it can be seen from Figure 8 that both controllers can ensure the convergence speed and steady-state accuracy of the displacement tracking error, but as can be seen from Figure 9, in the simulation running time, the controller of the present invention and Compared with the SPPFBSA controller, it is reduced by 91.7%, and the error convergence adjustment time is reduced by 95.5%. Because the controller design of the invention has low dependence on the model, compared with the algorithm developed on the basis of backstepping self-adaptation, the calculation amount is small, and online learning is not required, so it is convenient for real-time control and engineering realization.
  • the displacement tracking curve obtained by the controller of the present invention has almost only a small phase lag during the upward process of the cylinder, Compared with the ascending process of the cylinder block, when the cylinder block descends, the phase lag degree of the displacement tracking curve is larger, but the control effect of the controller of the present invention is in the whole process of the displacement tracking, the displacement tracking curve is higher than the pid displacement tracking curve. The degree of phase lag is small.
  • the control effect of the controller of the present invention is that the phase lag degree is basically unchanged during the cylinder body ascending process, and the phase lag degree is getting smaller and smaller during the cylinder body descending process, and the amplitude is basically not attenuated.
  • the pid tracking error becomes larger and larger, while the tracking error of the controller of the present invention is basically unchanged and converges within the specified performance boundary.

Abstract

Procédé de commande à faible complexité pour un système de suivi de position servo-hydraulique asymétrique. Le procédé comprend les étapes suivantes consistant : à établir un modèle de système servo-hydraulique d'une tige à sortie unique (étape1) ; en fonction du modèle de système servo-hydraulique de la tige à sortie unique, à concevoir un dispositif de commande d'un système servo-hydraulique de la tige à sortie unique à l'aide d'une stratégie de commande à faible complexité (étape2) ; et à démontrer la stabilité du système servo-hydraulique de la tige à sortie unique en fonction du dispositif de commande du système servo-hydraulique de la tige à sortie unique et du modèle de système servo-hydraulique de la tige à sortie unique (étape 3). Le procédé peut résoudre divers problèmes d'incertitude et des problèmes non linéaires inconnus dans le système hydraulique, et la conception du dispositif de commande ne dépend pas d'un modèle mathématique précis, et nécessite seulement un signal d'état qui peut être mesuré.
PCT/CN2021/124567 2020-12-07 2021-10-19 Procédé de commande à faible complexité pour système de suivi de position servo-hydraulique asymétrique WO2022121507A1 (fr)

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