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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
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No.9 Gaoguannong,Daxue Road,Hangzhou,China
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310009
E-mail:
meem_contribute@163.com
Abstract: There are some problems in the hydraulic system of valve-controlled cylinder, such as inaccurate modeling, low dynamic control accuracy and difficult debugging of control algorithm. Therefore, a backstepping dynamic surface control strategy based on recursive least squares(RLS) was proposed, and its control algorithm was debugged and verified by hardware-in-the-loop simulation platform. The semi-physical simulation platform was used to complete the debugging and verification of the control algorithm. Firstly, the nonlinear state space model of the valve-controlled cylinder hydraulic system was established, and the least squares matrix form and recursive algorithm formula of the system were derived. Then, based on Lyapunov stability theory and dynamic surface control technology, the control model of valve-controlled asymmetric cylinder system was established, and a dynamic surface controller based on RLS backstepping method was designed. Finally, based on the semi-physical simulation platform, the real-time verification of the modified Linux operating system was carried out, and the parameter identification of the valve-controlled asymmetric cylinder system and the dynamic surface control test based on RLS backstepping method were completed. The experimental results show that the RLS algorithm can not only accurately estimate the system model parameters, but also effectively adapt to the changes of the system model parameters. Comparing with the conventional PID control method, the dynamic control accuracy of the dynamic surface control strategy based on RLS backstepping method is improved by 72.9 % and 20.3% respectively in the stable state and commutation process of the valve-controlled asymmetric cylinder system, which can provide a high theoretical reference for the modeling of valve-controlled cylinder hydraulic system and the research of nonlinear control strategy in the future.
Key words: electrohydraulic servo system; nonlinear control strategy; backstepping; recursive least squares(RLS) method; dynamic surface control; semiphysical simulation; valve-controlled asymmetric cylinder system
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