Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (5): 1547-1557.doi: 10.13229/j.cnki.jdxbgxb20180507

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Predictive function and sliding model controller of continuous rotary electro⁃hydraulic servo motor applied to simulator

Xiao-jing WANG(),Mei-zhen LIU,Shuai CHEN,Song LI   

  1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
  • Received:2018-05-23 Online:2019-09-01 Published:2019-09-11

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Abstract:

Due to the existing uncertainties caused by high non-linearity, friction, leakage and other external factors in the flight simulator with continuous rotary electro-hydraulic servo motor, it is difficult to accurately establish the mathematical model and also the traditional control strategies can not satisfy the high performance requirements. To overcome these problems, a compound control strategy composed of Predictive Function Control and Sliding Model Control (PFC-SMC) was proposed. In the electro-hydraulic servo system, the control principle of internal model control with state feedback is adopted, the internal model control principle and sliding model variable structure control is combined. The sliding model variable structure control can overcome external disturbing and parameters’ time-varying property. The internal model controller is designed using the predictive function theory, which can greatly suppress chattering of sliding mode structure, and achieve high precision and high frequency responding on tracking performance. The simulation results show that PFC-SMC algorithm improves the tracking performance and anti-interference ability of the electro-hydraulic position servo system greatly comparing with the traditional PID control, and effectively expands the bandwidth. The accurate control of electro-hydraulic position servo system of hydraulic simulation turntable can be realized.

Key words: fluid transmission and control, continuous rotary electro-hydraulic servo motor, internal model control, sliding mode variable structure control, predictive function control

CLC Number: 

  • TH137

Fig.1

Servo system transfer function block diagram"

Fig.2

Schematic diagram of predictive control"

Fig.3

Schematic diagram of predictive functional control"

Fig.4

Predictive function sliding mode control"

Table 1

Sliding mode variable structure control"

输入信号 c k 0 k 1
0.001°/s的斜坡信号 1.0×10-4 2.0×10-6 686
14 Hz的正弦信号 2 0.2 0.002
15 Hz的正弦信号 2 0.2 0.002
16 Hz的正弦信号 2 0.2 0.002

Fig.5

Slope signal response curve with input signal of 0.001°/s"

Fig.6

Frequency 14 Hz, amplitude 1° sine simulation curve"

Fig.7

Frequency 15 Hz, amplitude 1° sine simulation curve"

Fig.8

Frequency 16 Hz, amplitude 1° sine simulation curve"

Fig.9

Phase?to-frequency response (12 Hz)"

Table 2

Tracking performance of PFC-SMC controls at a magnitude of 1° sinusoidal signal"

频率/Hz 系统响应极值/（°） 幅值误差/% 系统滞后时间/s

相位误差

/（°）
14 1.005 0.5 0.0016 8.064
15 1.006 0.6 0.0017 9.18
16 1.008 0.8 0.0018 10.368
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