Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear paramete...Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.展开更多
By introducing Information fusion techniques into a control field, a new theory of information fusion control （IFC） is proposed. Based on the theory of information fusion estimation, optimal control of nonlinear dis...By introducing Information fusion techniques into a control field, a new theory of information fusion control （IFC） is proposed. Based on the theory of information fusion estimation, optimal control of nonlinear discrete control system is investi- gated. All information on control strategy, including ideal control strategy, expected object trajectory and dynamics of system, are regarded as measuring information of control strategy. Therefore, the problem of optimal control is transferred into the one of information fusion estimation. Firstly, the nonlinear information fusion estimation theorems are described. Secondly, an algorithm of nonlinear IFC theory is detailedly deduced. Finally, the simulation results of manipulator shift control are given, which show the feasibility and effectiveness of the presented algorithm.展开更多
基金National Natural Science Foundation of China (50825502)
文摘Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.
基金Supported by the National Natural Science Foundation of China (Grant No. 60673026)
文摘By introducing Information fusion techniques into a control field, a new theory of information fusion control （IFC） is proposed. Based on the theory of information fusion estimation, optimal control of nonlinear discrete control system is investi- gated. All information on control strategy, including ideal control strategy, expected object trajectory and dynamics of system, are regarded as measuring information of control strategy. Therefore, the problem of optimal control is transferred into the one of information fusion estimation. Firstly, the nonlinear information fusion estimation theorems are described. Secondly, an algorithm of nonlinear IFC theory is detailedly deduced. Finally, the simulation results of manipulator shift control are given, which show the feasibility and effectiveness of the presented algorithm.
