自适应控制在水压伺服缸系统中的应用分析与研究

与电驱动、液压油驱动、气体驱动相比,水压伺服缸系统具有高功率、高安全性和环保性,且其具有较大的摩擦转矩和泄漏量,其稳态误差和超调量成为精准控制的主要问题。目前,传统模型参考自适应控制系统(MRAC)被广泛应用于水压伺服缸控制系统,且其具有较好的跟踪性,但其控制器结构复杂,阶次较高,且对外界干扰的鲁棒性不足。为此,应用简单自适应控制系统(SAC)对水压伺服缸进行控制,并对其跟踪性和鲁棒性进行研究分析。研究结果表明,SAC具有较好的跟踪性,且比MRAC具有更好的控制精度、更高的鲁棒性。

Analysis and Research on Application of Adaptive Control in Hydraulic Servo Cylinder System

Compared with electric drive, hydraulic oil drive and gas drive, the hydraulic servo cylinder system has high power, high safety and environmental protection, and it has large friction torque and leakage. Its steady state error and overshoot become the main problem of precise control. At present, the traditional model reference adaptive control (MRAC) system is widely applied to the hydraulic servo cylinder control system, and it has good tracking performance, but its controller structure is complex, the order is high, and the robustness to external interference is not enough. To this end, a simple adaptive control system (SAC) was used to control the hydraulic servo cylinder, and its tracking and robustness were researched and analyzed. The results show that SAC has better tracking performance, and has better control precision and higher robustness than MRAC.