CN110107563B - Multi-hydraulic servo actuator distribution cooperative control method under load interference condition - Google Patents
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Abstract
The invention discloses a cooperative control method for multiple electro-hydraulic servo actuators under the condition of load interference, which comprises the steps of establishing a plurality of non-linear models of asymmetric electro-hydraulic servo actuators and carrying out linearization processing, acquiring feedback data of an electro-hydraulic servo system in real time, designing a distributed consistency protocol, estimating unknown external load interference of the system by adopting a disturbance observer, calculating stable LMI conditions of the system, and driving the asymmetric electro-hydraulic servo mechanism in real time according to a distributed consistency control law. According to the method, a distributed consistency protocol is designed based on neighborhood information, a disturbance observer is established to estimate unknown load interference, distributed consistency cooperative control of a plurality of electro-hydraulic servo actuators is achieved, and tracking coordination capacity of a plurality of electro-hydraulic servo systems is improved.
Description
Technical Field
The invention belongs to the technical field of cooperative control of a plurality of asymmetric hydraulic cylinder actuating mechanisms, and particularly relates to a distributed cooperative control method of a plurality of electro-hydraulic servo actuators under the condition of unknown external load interference.
Background
The electro-hydraulic servo system is a hydraulic control system which takes a servo element (a servo valve or a servo pump) as a control core and mainly comprises an electric signal processing device and a hydraulic power mechanism. The typical electro-hydraulic servo system comprises the following components: (1) given the elements. It may be a mechanical device, such as a cam, a linkage, etc., providing a displacement signal; or an electrical element, such as a potentiometer, for providing a voltage signal; (2) and a feedback detection element. The feedback circuit is used for detecting the actual output quantity of the actuator and converting the actual output quantity into a feedback signal. It can be a mechanical device, such as a gear pair, a connecting rod and the like; or electrical elements such as potentiometers, tachogenerators, and the like; (3) and a comparison element. For comparing the command signal with the feedback signal and deriving an error signal. In practice, there is generally no specific comparison element, but rather a structural element is part of the job; (4) and an amplifying and converting element. The error signal obtained by the comparison element is amplified and converted into an electrical or hydraulic signal (pressure, flow). It can be an electrical amplifier, an electro-hydraulic servo valve, etc.; (5) and an execution element. Hydraulic energy is converted into mechanical energy, linear motion or rotary motion is generated, and a controlled object is directly controlled. Generally referred to as a hydraulic cylinder or a hydraulic motor; (6) a controlled object. Refers to the load of the system, such as a workbench, etc.
The basic principle of the electro-hydraulic servo system is as follows: the feedback signal is compared with the input signal to derive a deviation signal, which is used to control the energy input to the system from the hydraulic energy source, so that the system is caused to change in the direction of decreasing deviation until the deviation is equal to zero or sufficiently small, so that the actual output of the system corresponds to the desired value.
With the increasingly expanded application of the electro-hydraulic servo system in the engineering field, the requirement of large-scale equipment on the load capacity is increased continuously, and the requirement of the cooperative action of a plurality of electro-hydraulic servo systems for driving is increased increasingly; most of the existing researches are directed to a single electro-hydraulic servo actuator, and the researches on the cooperative control of a plurality of asymmetric hydraulic cylinder actuators are lacked.
Disclosure of Invention
The invention mainly aims to provide a multi-hydraulic servo actuator distribution cooperative control method under the condition of load interference, so that cooperative control of a plurality of electro-hydraulic servo actuators containing unknown external load interference is realized, and the cooperative control performance of a multi-hydraulic servo control system is improved.
In order to achieve the above object, the present invention provides a distributed cooperative control method of multiple hydraulic servo actuators under a undirected network, comprising the following steps:
s1, establishing a plurality of asymmetric electro-hydraulic servo actuator nonlinear models, and performing linearization processing to obtain a linear model;
s2, driving the electro-hydraulic servo mechanism to acquire feedback data of the electro-hydraulic servo mechanism in real time;
s4, designing a distributed consistency protocol of the multi-electro-hydraulic servo actuator based on pole allocation and disturbance compensation;
s5, estimating the unknown external load interference of the system by adopting a disturbance observer;
s6, obtaining a stable LMI condition of the system based on the Lyapunov energy function and in combination with a distributed consistency protocol, feedback data, consistency errors and disturbance estimation values;
and S7, driving the asymmetric electro-hydraulic servo mechanism in real time according to a distributed consistency control law.
Preferably, in the step S1, the non-linear model of the i-th asymmetric electro-hydraulic servo actuator established in the step S1 is represented as:
wherein x isijIs the i-th model state variable, yiFor the cylinder to output displacement, m is the load mass, CtlIs the total leakage coefficient, p, of the cylindersFor supply pressure, βeIs the effective bulk modulus of hydraulic oil, CdIs the servo valve flow coefficient, w is the servo valve area gradient, ρ is the hydraulic oil density, K is the load stiffness coefficient, b is the hydraulic oil damping coefficient, FLiFor external load pressure, KsvFor servo valve amplification factor, VtIs the total volume of the hydraulic power mechanism, uiSgn (·) is a sign function for servo valve control voltage;
the state space model of the asymmetric electro-hydraulic servo actuator nonlinear model is expressed as follows:
wherein,
C1＝[1,0,0]，
preferably, in step S1, the nonlinear models of the multiple asymmetric electro-hydraulic servo actuators are linearized to obtain linear models, which specifically include:
using state variable z and feedback control variable uiCarrying out linearization processing on a state space model of the asymmetric electro-hydraulic servo actuator nonlinear model to obtain a linear model of the state space model, wherein the linear model is expressed as follows:
wherein,
Cc＝[1 0 0]。
preferably, in step S3, the acquired feedback data of the electro-hydraulic servo system includes:
the output displacement of the hydraulic cylinder, the change rate of the output displacement of the hydraulic cylinder, the pressure of a rodless cavity and a rod cavity of the hydraulic cylinder and the displacement of a valve core of the servo valve.
Preferably, in step S4, the distributed consistency protocol for designing the multi-electro-hydraulic servo actuator based on pole allocation and disturbance compensation is expressed as:
wherein v isiIs the control law of the ith node, KvIs a gain vector, zi,zkThe state of the ith, kth node,
the state feedback vector for the pole placement,
for disturbance estimation, qiCompensating the gain for disturbances, aikTransmitting information for the ith and kth nodes;
the consistency protocol vector form for n systems is represented as:
wherein v ═ v1,...,vn]T，LnLaplace matrix, Q, for n nodes communicating the topology at time td＝diag{q1,...,qn}，InIs an identity matrix of n x n,
is a disturbance estimated value of n electrohydraulic servo systems
The constructed column vector.
Preferably, in step S5, the estimation of the unknown external load disturbance of the system by using the disturbance observer is represented as:
wherein,
p is a positive definite symmetric matrix, MdIs a diagonal gain matrix.
Preferably, in step S6, based on the lyapuloff energy function, and in combination with the distributed consistency protocol, the feedback data, the consistency error, and the disturbance estimation value, obtaining an LMI condition for system stability, specifically:
setting the Lyapuloff energy function, expressed as
Wherein, I3Is an identity matrix of the order of 3,
estimating an error for the disturbance;
combining the distributed consistency protocol, the feedback data, the consistency error and the disturbance estimation value to obtain the LMI condition of system stability, which is expressed as
Wherein,
δ, k are positive gains.
The invention has the beneficial effects that: according to the method, a distributed consistency protocol is designed based on neighborhood information, a disturbance observer is established to estimate unknown load interference, distributed consistency cooperative control of a plurality of electro-hydraulic servo actuators is achieved, and tracking coordination capacity of a plurality of electro-hydraulic servo systems is improved.
Drawings
FIG. 1 is a schematic flow chart of a distributed cooperative control method for multiple hydraulic servo actuators in the presence of load disturbance according to the present invention;
fig. 2 is a schematic diagram of a two-degree-of-freedom robot arm mechanism according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
FIG. 1 is a schematic flow chart of a distributed cooperative control method for multiple hydraulic servo actuators under the condition of load disturbance according to the present invention; a multi-hydraulic servo actuator distribution cooperative control method under the condition of load interference comprises the following steps:
s1, establishing a plurality of asymmetric electro-hydraulic servo actuator nonlinear models, and performing linearization processing to obtain a linear model;
s2, driving the electro-hydraulic servo mechanism to acquire feedback data of the electro-hydraulic servo mechanism in real time;
s4, designing a distributed consistency protocol of the multi-electro-hydraulic servo actuator based on pole allocation and disturbance compensation;
s5, estimating the unknown external load interference of the system by adopting a disturbance observer;
s6, obtaining a stable LMI condition of the system based on the Lyapunov energy function and in combination with a distributed consistency protocol, feedback data, consistency errors and disturbance estimation values;
and S7, driving the asymmetric electro-hydraulic servo mechanism in real time according to a distributed consistency control law.
As shown in fig. 2, the distributed cooperative control method of the multi-electric-hydraulic-servo-actuator under the condition of load interference is further described in detail by taking the case that two electric-hydraulic-servo-actuators drive a two-degree-of-freedom mechanical arm to realize distributed cooperative control under the condition of unknown load interference as an example.
The robot arm includes: 3 mechanical linkages comprising: the hydraulic control system comprises a first connecting rod, a second connecting rod, a third connecting rod, 2 electro-hydraulic servo valves, 2 double-acting hydraulic cylinders, 1 servo motor, 1 quantitative plunger pump and 1 oil tank; the first connecting rod and the second connecting rod are hinged to form a shoulder joint, and the second connecting rod and the third connecting rod are hinged to form an elbow joint; an electro-hydraulic servo valve and a double-acting hydraulic cylinder are respectively arranged at the shoulder joint and the elbow joint; the whole mechanical arm is provided with 1 servo motor, 1 quantitative plunger pump and 1 oil tank; the second connecting rod and the third connecting rod are respectively provided with a photoelectric encoder for measuring the motion angle and the angular speed of the two joints; the oil inlet and the oil outlet of the two hydraulic cylinders are respectively provided with 1 pressure sensor for measuring the load force of the hydraulic cylinders, and the outlet of the quantitative plunger pump is provided with 1 pressure gauge for monitoring the oil supply pressure of the system.
The model of the asymmetric electro-hydraulic servo actuator is a 3-order model, the model of the mechanical arm mechanism movement is not considered, and the joint torque required by the mechanical arm movement is considered as the load interference of the electro-hydraulic servo actuator.
In an optional embodiment of the present invention, in step S1, a third-order model is used to describe an electro-hydraulic servo actuator model of a servo valve driving hydraulic cylinder loop, and an ith asymmetric electro-hydraulic servo actuator nonlinear model is established, which is expressed as:
wherein x isijJ is 1,2 and 3, which respectively represent output position, speed and pressure,
yito output the displacement for the hydraulic cylinder,
for output rate of change of displacement, m is load mass, CtlIs the total leakage coefficient, p, of the cylindersFor supply pressure, βeIs the effective bulk modulus of hydraulic oil, CdIs the servo valve flow coefficient, w is the servo valve area gradient, ρ is the hydraulic oil density, K is the load stiffness coefficient, b is the hydraulic oil damping coefficient, FLiFor external load pressure, KsvFor servo valve amplification factor, VtIs the total volume of the hydraulic power mechanism, uiSgn (·) is a sign function for servo valve control voltage;
the state space model of the asymmetric electro-hydraulic servo actuator nonlinear model is expressed as follows:
wherein,
The method comprises the following steps of carrying out linearization processing on a plurality of asymmetric electro-hydraulic servo actuator nonlinear models to obtain linear models, specifically:
using state variables z linear transformation
z＝[xi1xi2-θ1xi1-θ2xi2+θ3xi3]T
And a feedback control variable ui
ui＝α(Xi)+γ-1(Xi)vi
Carrying out linearization processing on a state space model of the asymmetric electro-hydraulic servo actuator nonlinear model to obtain a linear model of the state space model, wherein the linear model is expressed as follows:
wherein,
Cc＝[1 0 0]；
in an optional embodiment of the present invention, the step S3 of driving the electro-hydraulic servo mechanism to obtain the feedback data of the electro-hydraulic servo mechanism in real time includes: the output displacement of the hydraulic cylinder, the change rate of the output displacement of the hydraulic cylinder, the pressure of a rodless cavity and a rod cavity of the hydraulic cylinder and the displacement of a valve core of the servo valve.
In an alternative embodiment of the present invention, the step S4 is to design a distributed consistency protocol of a multi-hydraulic servo actuator based on pole allocation and disturbance compensation, which is expressed as:
wherein c is a positive gain, viIs the control law of the ith node,
is a 1 × 3 gain vector, zi,zkThe state of the ith, kth node,
the state feedback vector for the pole placement,
for disturbance estimation, qiCompensating the gain for disturbances, aikFor the ith, k nodes to communicate information with each other, a when the ith, k nodes can communicate information with each otherik1, otherwise aik＝0；
The consistency protocol vector form for n systems is represented as:
wherein v ═ v1,...,vn]T，LnFor n nodes, at time t, the laplacian matrix of the communication topology, Q ═ diag { Q }1,...,qn}，InIs an identity matrix of n x n,
is a disturbance estimated value of n electrohydraulic servo systems
The constructed column vector.
In an optional embodiment of the present invention, the step S5 of estimating the unknown external load disturbance of the system by using a disturbance observer is represented as:
wherein,
p is a positive definite symmetric matrix, MdIs a diagonal gain matrix.
In an optional embodiment of the present invention, in step S6, based on the lyapuloff energy function, and in combination with the distributed consistency protocol, the feedback data, the consistency error, and the disturbance estimation value, an LMI (linear matrix inequality) condition for system stability is obtained, specifically:
setting the Lyapuloff energy function, expressed as
Wherein, I3Is an identity matrix of the order of 3,
estimating an error for the disturbance;
combining a distributed consistency protocol, feedback data, consistency errors and disturbance estimated values, and deriving an LMI condition representing the system stability by an energy function
Wherein,
δ, k are positive gains.
And solving according to the stable LMI condition of the system to obtain a positive definite symmetric matrix P, and substituting the positive definite symmetric matrix P into the consistency protocol vector and the disturbance observer model, thereby completing the design of the stable distributed consistency protocol and the disturbance observer of the system.
Aiming at the problem of distributed cooperative control of a plurality of electro-hydraulic servo actuators, the distributed cooperative control performance of the asymmetric electro-hydraulic servo actuator driving 2-DOF mechanical arm under the condition of unknown external load interference is improved by adopting a method of combining a distributed consistency protocol and a disturbance observer.
Firstly, converting a nonlinear model of an electro-hydraulic servo actuator into a linear model through input and output feedback linearization, and estimating unknown external loads in the model by adopting a disturbance observer; and designing a distributed consistency protocol based on neighborhood information, designing a Lyapunov energy function based on the state error and the observer estimation error, obtaining a stable LMI (local mean Square) condition of the system, and finishing the design of the distributed consistency protocol and the disturbance observer. The two electro-hydraulic servo actuators respectively drive the large arm and the front arm of the 2-DOF mechanical arm, so that the two-arm cooperative control of the 2-DOF mechanical arm is realized under the distributed cooperative control law, and the cooperative control performance of the joint motion of the 2-DOF mechanical arm is improved.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (6)
1. A multi-hydraulic servo actuator distribution cooperative control method under the condition of load interference is characterized by comprising the following steps:
s1, establishing a plurality of asymmetric electro-hydraulic servo actuator nonlinear models, and performing linearization processing to obtain a linear model;
s2, driving the electro-hydraulic servo mechanism to acquire feedback data of the electro-hydraulic servo mechanism in real time;
s3, designing a distributed consistency protocol of the multi-electro-hydraulic servo actuator based on pole allocation and disturbance compensation; in the step S3, the distributed consistency protocol for designing the multi-electro-hydraulic servo actuator based on pole allocation and disturbance compensation is expressed as follows:
wherein v isiIs the control law of the ith node, KvIs a gain vector, zi,zkThe state of the ith, kth node,
the state feedback vector for the pole placement,
for disturbance estimation, qiCompensating the gain for disturbances, aikTransmitting information for the ith and kth nodes;
the consistency protocol vector form for n systems is represented as:
wherein v ═ v1,...,vn]TC is positive gain, LnLaplace matrix, Q, for n nodes communicating the topology at time td＝diag{q1,...,qn}，InIs an identity matrix of n x n,
is a disturbance estimated value of n electrohydraulic servo systems
A constructed column vector;
s4, estimating the unknown external load interference of the system by adopting a disturbance observer;
s5, obtaining a stable LMI condition of the system based on the Lyapunov energy function and in combination with a distributed consistency protocol, feedback data, consistency errors and disturbance estimation values;
and S6, driving the asymmetric electro-hydraulic servo mechanism in real time according to a distributed consistency control law.
2. The distributed cooperative control method for multiple electro-hydraulic servo actuators under the condition of load disturbance according to claim 1, wherein in the step S1, the established ith asymmetric electro-hydraulic servo actuator nonlinear model is represented as:
wherein x isijJ is the j state variable of the ith electro-hydraulic servo system, and j is 1,2,3, yiFor the cylinder to output displacement, m is the load mass, CtlIs the total leakage coefficient, p, of the cylindersFor supply pressure, βeIs the effective bulk modulus of hydraulic oil, ApDenotes the area of the cross section of the asymmetric cylinder, CdIs the servo valve flow coefficient, w is the servo valve area gradient, ρ is the hydraulic oil density, K is the load stiffness coefficient, b is the hydraulic oil damping coefficient, FLiFor external load pressure, KsvFor servo valve amplification factor, VtIs the total volume of the hydraulic power mechanism, uiSgn (·) is a sign function for servo valve control voltage;
the state space model of the asymmetric electro-hydraulic servo actuator nonlinear model is expressed as follows:
wherein,
C1＝[1,0,0]，
3. the method for distributed cooperative control over multiple electro-hydraulic servo actuators under the condition of load disturbance according to claim 2, wherein in step S1, the nonlinear models of the multiple asymmetric electro-hydraulic servo actuators are linearized to obtain linear models, specifically:
using state variable z and feedback control variable uiCarrying out linearization processing on a state space model of the asymmetric electro-hydraulic servo actuator nonlinear model to obtain a linear model of the state space model, wherein the linear model is expressed as follows:
wherein,
viis the control law of the ith node, ziRespectively, the ith node state.
4. The distributed cooperative control method for multiple electro-hydraulic servo actuators under the condition of load disturbance according to claim 3, wherein the step S3 is implemented by acquiring feedback data of the electro-hydraulic servo system, and the feedback data comprises:
the output displacement of the hydraulic cylinder, the change rate of the output displacement of the hydraulic cylinder, the pressure of a rodless cavity and a rod cavity of the hydraulic cylinder and the displacement of a valve core of the servo valve.
5. The distributed cooperative control method for multiple hydraulic servo actuators under the condition of load disturbance according to claim 4, wherein in the step S5, the estimation of the unknown external load disturbance of the system by using the disturbance observer is represented as:
wherein,
p is a positive definite symmetric matrix, MdIs a diagonal gain matrix.
6. The distributed cooperative control method for multiple hydraulic servo actuators under the condition of load interference as claimed in claim 5, wherein in step S6, based on the lyapuloff energy function, and in combination with the distributed consistency protocol, the feedback data, the consistency error and the disturbance estimation value, the LMI condition for system stability is obtained, specifically:
setting the Lyapuloff energy function, expressed as
Wherein, I3Is an identity matrix of the order of 3,
estimating an error for the disturbance;
combining the distributed consistency protocol, the feedback data, the consistency error and the disturbance estimation value to obtain the LMI condition of system stability, which is expressed as
Wherein,
δ, k are positive gains.
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