Angle tracking control of integrated hydraulic transformer inner loop servo system.
Angle tracking control of integrated hydraulic transformer inner loop servo system.
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DOI：
10.1016/j.isatra.2022.09.003
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发表时间：
2022-09
期刊：
影响因子：
7.3
通讯作者：
W. Shen;Jingxian Pan
中科院分区：
文献类型：
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作者：
W. Shen;Jingxian Pan
基于液压共压轨系统的集成液压变压器具有显著的节能效果。内回路（即阀控液压摆动马达系统）的控制与集成液压变压器的性能密切相关。考虑内环系统的输入延迟、输出约束和实际工作条件，设计了一种基于扩展状态观测器的有限时间反步滤波控制策略，以保证系统的节能性能。首先，构造一个扩展状态观测器对状态变量进行观测，获取未知项的估计值；其次，利用Pade逼近变换系统的状态方程，基于有限时间稳定性理论和反演算法设计鲁棒控制器，保证系统在约束集内的输出；最后，通过实验将所提出的控制算法与传统控制算法进行了比较，验证了算法的有效性。
Integrated hydraulic transformer based on hydraulic common pressure rail system has significant energy saving effect. The control of the inner loop (i.e. valve-controlled hydraulic swing motor system) is closely bound up with the performance of the integrated hydraulic transformer. Considering the input delay, output constraints, and actual working conditions in the inner loop system, an extended state observer-based finite-time backstepping filter control strategy is designed to guarantee energy-saving performance. Firstly, an extended state observer is constructed to observe the state variables and acquire the estimated value of the unknown term. Secondly, the state equation of the system is transformed by the Pade approximation, and the robust controller is designed based on finite-time stability theory and backstepping algorithm to ensure the output of the system in the constraint set. Finally, the proposed control algorithm is compared with the traditional control algorithm through experiments, and the effectiveness is verified.