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A Study of an Electro-hydraulic Servo System with an Analog Adaptive Controller

模拟自适应控制器电液伺服系统的研究

基本信息

批准号：
01550136
负责人：
KITAGAWA ATO
金额：
$ 1.22万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

项目摘要

In this study continuous-time adaptive control law was first derived for an elecrto-hydraulic servo system. By linear approximation technique dynamic characteristics of the adaptive control system were analyzed. A parameter which has close relation to transient response after starting of the adaptive control was obtained. A computer aided design technique with the parameter was proposed and a program for designing an adaptive controller was made. By use of the program, an electronic circuit of an adaptive controller was designed and made of analog multipliers and operational amplifiers, etc.. Urther, an electro-hydraulic servo mechanism was constructed with a highspeed type servo valve. Using the analog adaptive controller, performance of the adaptive control system was examined for many kinds of input signal, for example a sine wave and a rectangular wave. It was demonstrated that the adaptive control system shows stable dynamic characteristics to input signals of high frequency up to 80 Hz. It is not easy for a digital adaptive control technique to obtain such a high speed of response. From analytical and experimental study of an analog adaptive controller, a design technique was established and a good performance of the adaptive control system was demonstrated.

本研究首先推导出电液伺服系统的连续时间自适应控制律。利用线性逼近技术分析了自适应控制系统的动态特性。得到了一个与自适应控制启动后的瞬态响应关系密切的参数。提出了一种基于参数的计算机辅助设计技术，并编制了自适应控制器的设计程序。利用该程序设计了一种自适应控制器的电子电路，并由模拟乘法器、运算放大器等组成。采用高速型伺服阀构成电液伺服机构。利用模拟自适应控制器，对正弦波和方波等多种输入信号的自适应控制系统的性能进行了研究。结果表明，自适应控制系统对高达80 Hz的高频输入信号具有稳定的动态特性。对于数字自适应控制技术来说，要获得如此高的响应速度是不容易的。通过对模拟自适应控制器的分析和实验研究，建立了自适应控制器的设计方法，并证明了自适应控制系统的良好性能。