Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control
Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control
复制标题
采用离线反馈控制和自适应控制的电液力伺服系统实时跟踪控制
DOI：
10.1016/j.isatra.2016.11.012
复制
发表时间：
2017-03-01
期刊：
影响因子：
7.3
通讯作者：
Li, Xiang
中科院分区：
文献类型：
--
作者：
Shen, Gang;Zhu, Zhencai;Li, Xiang
为了改善电液力伺服系统(EHFS)的力跟踪性能，将离线设计的反馈控制器(ODFC)和在线自适应补偿器相结合，研究了电液力跟踪控制器的应用。采用比例积分控制器，通过连续系统辨识算法辨识出基于参数的电动助力转向系统的力闭环传递函数。以辨识出的系统模型为标称对象模型，采用离线设计方法，综合考虑了EHFS的性能、控制量和鲁棒性，建立了最优反馈控制器。为了克服离线设计控制器的缺点，适应电动助力转向系统的动态变化，将归一化最小二乘算法的在线自适应补偿器级联到由ODFC补偿的电动助力转向系统的力闭环系统中。采用XPC快速原型技术对一台实时电动助力转向系统进行了对比实验，结果表明所提出的控制器具有较好的力跟踪性能。(C)2016年《国际行政程序法》。爱思唯尔有限公司出版。保留所有权利。
This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an He offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. (C) 2016 ISA. Published by Elsevier Ltd. All rights reserved.