Transactions of Materials and Heat Treatment

Title：Robust H∞ position control of electro-hydraulic system in large equipment

Authors： Xu Wenbin Tan Jianping

Unit： Airforce Aviation Repair Institute of Technology Central South University

KeyWords： electro-hydraulic system uncertain parameters linear matrix inequality robust H∞ control full state observer

ClassificationCode：TP273

year,vol(issue):pagenumber：2017,42(4):131-137

Abstract：

For the problems of nonlinearity and uncertain parameters of electro-hydraulic system for large equipment, a nonlinear dynamic model of the proportional valve control asymmetric cylinder hydraulic system was developed. For the purpose of feedback control, a linearized mathematical model of the system with uncertain parameters was derived. Based on boundary theory and linear matrix inequalities, a robust H∞ position control strategy of electro-hydraulic system was put forward. Furthermore, the perturbations of structure coefficients in the electro-hydraulic system were focused on consideration, a H∞ controller with the integral action was proposed, and an observer estimating internal states of the system was designed. Finally, the proposed algorithm and control strategy were verified by simulation and experiment. The robustness and stability of system were compared under the conditions of the external load changes and the system parameters changes. The simulation and experiment results show that the given robust H∞ position control strategy with the integral action can enhance the robustness and stability of system.

Funds：

高性能复杂制造国家重点实验室自主探索基金(zzyjkt2013)；湖南省教育厅科学研究项目(16C0016)

许文斌(1977-)，男，博士研究生，副教授 E-mail：xwb_770210@126.com 通讯作者：谭建平（1963-），男，博士，教授，博士生导师 E-mail：jptan@163.com

Reference：

[1]李建雄，方一鸣，石胜利. 轧机液压伺服位置系统的自适应输出反馈控制[J]. 电机与控制学报,2012，16(1):104-110.

Li J X,Fang Y M,Shi S L. Adaptive output-feedback control for hydraulic servo position system of rolling mill[J]. Electical Machines and Control,2012，16(1):104-110.

[2]Chalupa P, Novák J. Modeling and model predictive control of a nonlinear hydraulic system[J]. Computers & Mathematics with Applications,2013，66(2):155-164.

[3]王传礼，丁凡，李其朋，等. 对称四通阀控非对称液压缸伺服系统动态特性研究[J]. 中国机械工程,2004，15(6):471-474.

Wang C L，Ding F，Li Q P，et al. Research on dynamic characteristics of asymmetric cylinder controlled by symmetric four-way valve[J]. Chinese Mechanical Engineering, 2004，15(6):471-474.

[4]王栋梁，李洪人，张景春. 非对称阀控制非对称缸的分析研究[J]. 济南大学学报: 自然科学版, 2003，17(2):118-121.

Wang D L，Li H R，Zhang J C. The analysis and research of the asymmetric valve control unsymmetrical cylinder system [J]. Joural of Jinan University: Sci. & Tech. ,2003，17(2):118-121.

[5]高永卫，谭建平，杨俊. 大型装备电液系统鲁棒控制策略与实验验证[J]. 锻压技术,2015，40(5):90-95.

Gao Y W，Tan J P，Yang J. Control strategy and experimental verification on robust of electro-hydraulic system in large equipment[J]. Forging & Stamping Technology,2015，40(5):90-95

[6]杨军宏，尹自强，李圣怡. 阀控非对称缸的非线性建模及其反馈线性化[J]. 机械工程学报,2006，42(5):203-207.

Yang J H，Yin Z Q，Li S Y. Nonlinear modelling and feedback linearization of valve-controlled asymmetrical cylinder[J]. Chinese Journal of Mechanical Engineering, 2006，42(5):203-207.

[7]韩崇伟，林廷圻，肖文伟，等. 电液伺服系统滑动模态变结构控制[J]. 系统仿真学报,2002，14(6):821-823.

Han C W，Lin T Q，Xiao W W，et al. Variable structure control of the electro-hydraulic servo system[J]. Journal of System Simulation, 2002，14(6):821-823.

[8]靳宝全，熊诗波，程珩. 电液位置伺服系统的变速趋近律滑模控制抖振抑制[J]. 机械工程学报,2013，49(10):163-169.

Jin B Q，Xiong S B，Cheng H. Chattering inhibition of variable rate reaching law sliding mode control for electro-hydraulic position servo system[J]. Chinese Jourmal of Machanical Engineering ,2013，49(10):163-169.

[9]白寒，管成. 电液比例系统鲁棒自适应动态表面控制[J]. 浙江大学学报:工学版,2010，44(8):1441-1448.

Bai H，Guan C. Robust adaptive dynamic surface control of electro-hydraulic proportion system[J].Journal of Zhejiang University: Engineering Science,2010，44(8):1441-1448.

[10]Roozbahani H， Huapeng W，Handroos H. Real-time simulation based robust adaptive control of hydraulic servo system[A]. Mechatronics (ICM), 2011 IEEE International Conference[C]. Istanbul, 2011.

[11]Niksefat N，Sepehri N. Designing robust force control of hydraulic actuators despite system and environmental uncertainties[J]. IEEE Control Systems Magazine,2001，21(2):66-77.

[12]刘保杰，强宝民. 电液比例位置控制系统Fuzzy-PID控制的应用[J]. 仪表技术与传感器,2012, (2):82-84.

Liu B J，Qiang B M. Application of Fuzzy-PID control for electro-hydraulic proportional position control system[J]. Instrument Technique and Sensor, 2012, (2):82-84.

[13]刘忠伟，青先麒.巨型模锻液压机同步系统的模糊PID控制研究[J]. 锻压技术，2015，40（4）：89-96.

Liu Z W，Qing X Q. Research on fuzzy PID control for synchronization system of giant die forging hydraulic press [J]. Forging & Stamping Technology，2015，40(4):89-96.

[14]Mesquine F，Tadeo F, Benzaouia A. Regulator problem for linear systems with contraints on control and its increment or rate[J]. Automatica, 2004，40(8):1387-1395.

Service：

【This site has not yet opened Download Service】【Add Favorite】