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Electric hydraulic servo system robust predictive control

Forecast and forecast error correction step vector H: Eh, ...,] T has a certain relationship, therefore, according to empirical data to determine the parameters to ensure system stability. Make sure the sampling period is 1ms, based on experience to determine optimal step 4, step 6 forecast. Model length error correction vector is taken as 20 days is taken as {1,07, o3, 0.02, a 0.3, a 01}. Simulation results show that these parameters can guarantee the stability of the real system. The simulation results shown in Figure 4,5,[link widoczny dla zalogowanych],6. Time t / s step response curve in Figure 4 where f Figure 5 Step response curve of Figure 4 without predictive controller for the system when the step response curve {Figure 5 after to join the predictive controller step response curve; map 6 To add predictive controller, the flow of a pressure coefficient K and the effective area of the hydraulic cylinder piston by the 5.2m. / (N ・ s), 1.55 × 10m into 94m. / (N ・ s), 225 × 10m when the step response curve. The simulation results can be seen not to join the predictive controller,[link widoczny dla zalogowanych], the extra large power, the maximum reached 200N, 100N and always have extra power. Add predictive controller, the maximum excess force decreases of Mechanical Engineering 35, No. 6 when you hear I, I Figure 6 Step response curve to 5N,[link widoczny dla zalogowanych], which when added predictive controller will be the maximum deviation of the system decreases from 200N to 5N. Parameter changes,[link widoczny dla zalogowanych], the extra power has not changed much, showing strong robustness. 3 Conclusion position disturbance in the electro-hydraulic force system infinity norm based robust predictive control optimization, not only could eliminate the position of rope moving excess power generated, but also could eliminate the uncertain system factors on system performance. The power control algorithm for improving the tracking accuracy of servo systems,[link widoczny dla zalogowanych], to improve the quality of the system has a good effect. References 1 Wei-Xiang Shi and so on. Pina adaptive servo control new development. Machine Tool & Hydraulics. 1995.1t1 ~ 72 XI Yu-Geng. Predictive control. Beijing, National Defence Industry Press 19933XiY. Minimalformofapredictivecontrollerbasedonthestep-responsemode1. Int. J. Control ・ 1995.49 (1】 I57 ~ 644CampoPJ, MorariM.Robustmodelpredictivecontro1.In: Proceedings0fthel987AmericanControlConferenceV.2.Minneapoils: AmericanAutomaticControlCouncil.1987I1021 ~ l026PREDICTIVERoBUSTCoNTRoLFoRELCTRO-HYDRAULICCoNTRoLF0RCELOADINGSYSTEMCaiYongqiangQiuLihuaWangZhanlin (BeijingUniversityofAeronauticsandAstronautics) AbstractRobustpredictivecontrolalgorithmbasedoninfinitenormoptimizationisappliedtocontrolforceloadingsystemtoeliminatethejnfluence0fpositiondisturbanceanduncertaininterfere.Theresearches' resultsshowthealgorithm'seffectivenesstoeliminatestheinfluenceofpositiondisturbanceanduncertaininterfere. Keywords: PoskiondisturbancetypeofloadingsystemRobustpredictivecontrolExtraneousforce About Cai strong men. May 1969 students. Beijing University of Aeronautics and Astronautics Department of Automatic Control. PhD. principally engaged in mechatronics, systems design and other aspects of optimization.
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