比例阀控马达自调节前馈补偿跟踪控制_英文_

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比例阀控马达自调节前馈补偿跟踪控制英文Self -Adjusting Feedforward Compensation Tracking
Control for Proportional Valve -Controlled Motor
Peng Xiwei
Wang Yu
Wang Xiangzhou
( Department of Automatic Control， Beijing I nst itute of Technolog y， Beijing 100081)
Abstract
Aim
Aiming at the position tr acking control for v alve -controlled motor electrohy -
draulic pr oportional servo systems mainly driving the static load torque， the tracking perfor -
mance was studied in the presence of the variable g ain and deadzone. Methods
On the basis of
conventional composite control with the deadzone compensation method， a comprehensive con -
trol approach with t he deadzone and sel- f adjusting feedforw ar d compensat ion was pro posed.
Result s
Ex perimental results showed t hat the good tr acking performance was achiev ed for the
sinusoidal and co nstant velocity positio n tr acking under a wide variations of load torque.
Conclusion
The positio n tracking accuracy for v alve -controlled motor electrohy draulic propor -
tio nal servo systems has been solved by using the comprehensive control approach with the dead -
zone and sel- f adjusting feedforw ar d compensation.
Key words
sel- f adjusting feedforward compensat ion; deadzone compensation; tracking control;
electrohydraulic proportional servo system
Recent ly ， the elect rohydraul ic proportional servo control has become one of the most impor -
tant research problems in the l iterature of electrohydraul ic servo systems， and some progress has
been achieved in applications. But ， the posi t ion t racking control for valve cont rolled motor servo
system w hich mainly driving the stat ic load torque has been involved l it tle. For the clas s of track -
ing cont rol ， the t racking errors are mainly composed of the posi t ion tracking error caused by the
veloci ty and the error produced by deadzone. Tradi t ionally， in industrial pract ice the g ood track -
ing performance can be achieved by using a combination of a conventional composi te control and a
fixed deadzone compensat ion when the load torque is constant ; how ever， if the gain and deadzone
considerably vary due to the variat ions of load torque， the t racking performance is signif icant ly
w orsened.
T he common w ays to deal w i th deadzone nonlinearity in practice are to design an adapt ive
cont roller or to use a hig h gain cont rol ler
[ 1- 3]
. T he former， the adapt ive cont roller， requires ac -
curate models and complex calculat ions. T he latter， the high gain cont roller， has its ow n pract ical
disadvantages such as int roducing instabi lity or saturat ing an actuato