基于反馈线性化的电液伺服系统线性二次型最优控制

摘要

Because of the non-linear of electro-hydraulic servo system, the conventional modeling methods cannot be accurately modeled which results that it is difficult to improve the control accuracy and stability. A nonlinear mathematical model according to a closed loop electro-hydraulic servo control system was established, then the model was established the accurate feedback of linear mod-eling feedback based on differential geometry method and linear quadratic optimal control method was used to calculate the optimal con-trol law of the system, the optimal control was implemented based on the model for the marine mechanical property testing platform. The results show that the combination of exact linearization feedback and optimal control make that the system of fast response and control accuracy are superior to conventional PID control algorithm.%由于电液伺服系统的非线性，常规建模方法不能准确建模，导致控制精度与稳定性难以提高。针对电液伺服闭环控制系统建立了非线性数学模型，基于微分几何方法对模型进行反馈精确线性化建模，利用线性二次型最优控制方法计算出系统的最优控制律，利用该模型实现了某船用构件力学性能测试平台的最优控制。研究结果表明：在反馈精确线性化结合最优控制的作用下，系统的响应快速性及控制精度均优于常规PID控制算法。