Wang Chengwen, Jiao Zongxia, Quan Long
Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
ISA Trans. 2015 Nov;59:280-9. doi: 10.1016/j.isatra.2015.10.013. Epub 2015 Oct 27.
This paper investigates on the high performance torque control of electro-hydraulic load simulator (EHLS). In order to suppress actuator's motion disturbance, a nonlinear robust dual-loop control scheme is developed, which consists of a open-loop nonlinear velocity feed-forward compensator and a closed-loop nonlinear deterministic robust torque controller. The main function of the open-loop compensator is to decouple actuator's active motion disturbance, whereas the torque loop controller aims at guaranteeing the dynamics performance of tracking torque reference. Besides actuator's motion disturbance, both the nonlinearity characteristics and friction problem of the EHLS system are taken into consideration in this paper. The effectiveness of the developed method are verified through comparative co-simulations and experiments.
本文研究了电液负载模拟器（EHLS）的高性能转矩控制。为抑制执行器的运动干扰，提出了一种非线性鲁棒双环控制方案，该方案由一个开环非线性速度前馈补偿器和一个闭环非线性确定性鲁棒转矩控制器组成。开环补偿器的主要功能是解耦执行器的主动运动干扰，而转矩环控制器旨在保证跟踪转矩参考的动态性能。除了执行器的运动干扰外，本文还考虑了EHLS系统的非线性特性和摩擦问题。通过对比联合仿真和实验验证了所提方法的有效性。
