中南大学学报（自然科学版）2017，Vol.48Issue(5)：1182-1189,8.DOI:10.11817/j.issn.1672-7207.2017.05.009
基于扰动观测器的电液系统压力控制
Disturbance observer based pressure control for electrohydraulic system
摘要
Abstract
Considering the electrohydraulic systems controlled by flow valves, a disturbance observer based nonlinear robust pressure controller was developed. The proposed method mainly focuses on the disturbance arising from load flow, which can be divided into two parts. One part is unknown and time-varying, named unknown load flow, which significantly affects pressure control in electrohydraulic systems. The other part can be modeled, named leakage flow. To account for the disturbance caused by unknown load flow, a nonlinear disturbance observer was designed to estimate it. The leakage flow was handled by model compensation in the controller. Based on the estimation of unknown load flow and the model of leakage flow, also taking into account nonlinear characteristics associated with the pressure dynamic at the same time, a nonlinear robust controller was synthesized via sliding mode control technology. Theoretically, the controller can achieve guaranteed robust transient performance and steady-state control accuracy. The proposed controller was tested on an experiment set. The experiment results show that using the raised controller, the system achieves fast and precise pressure tracking control, and the control performance is robust to unknown load flow.关键词
扰动观测器/压力控制/滑模控制/电液系统Key words
disturbance observer/pressure control/sliding mode control/electrohydraulic system分类
机械制造引用本文复制引用
熊义,魏建华,冯瑞琳,张强..基于扰动观测器的电液系统压力控制[J].中南大学学报（自然科学版）,2017,48(5):1182-1189,8.基金项目
国家自然科学基金资助项目(51075359) (Project(51075359) supported by the National Natural Science Foundation of China) （51075359）
