Position control of hydraulic servo system based on state observer and feedforward
In hydraulic servo system control, in order to ensure the high accuracy of the hydraulic servo system that is the system has strong anti-disturbance performance, infinite bandwidth, larger damping ratio and ideal static/dynamic stiffness are all required. As it is difficult to measure the load disturbance under normal circumstances, a state observer was adopted to evaluate the load disturbance. Then, the observed disturbance torque is fed forward, that can reduce the error caused by the load disturbances and increase the effective stiffness. Aiming at the controlled object with large inertia, the PD controller, which is needed to avoid unacceptable overshoot and improve system dynamic performance, was applied to position control. The system with or without load observer participating in control was compared by simulating; the simulation studies indicate that this method can enhance antidisturbance ability and improve system dynamic performance.
hydraulic servo state observer feedforward PD controller
Zhao Yanan Du Hongwang An Shaojun Du Hongwang Du Chunyang
College of Mechanical and Electrical Engineering Harbin Engineering University Harbin,P.R.China College of Automation Harbin Engineering University Harbin,P.R.China
国际会议
上海
英文
2665-2669
2009-11-20（万方平台首次上网日期，不代表论文的发表时间）