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文章提出的是一个详细的、用于具有重要的不确定性和非线性系统中的液压执行元件的设计与试验评估。通过实验总结出:可以通过两种方法来精确表示非线性设备和操作范围较大的线性定常等效模型。一是以直接从系统中获得试验的输入—输出测量值为基础。二是模型基础,利用正在与不确定环境相互作用的液压执行元件的一般非线性数学模型,假设出等效模型,然后设计出满足实现明确轨迹和稳定性要求的控制器。控制器在展现其控制力的同时,也表现出固定增益控制的趋势。试验结果表明,补偿系统对诸如环境刚度和供给压力等参数的变动不敏感,并且在各种力量设定值上工作流畅。
The article presents a detailed design and test evaluation of hydraulic actuators with significant uncertainties and nonlinearities. It is concluded through experiments that two methods can be used to accurately represent nonlinear devices and a linear steady-state equivalent model with a large operating range. One is based on input-output measurements obtained directly from the system. The second is the model foundation. Based on the general non-linear mathematical model of the hydraulic actuator that is interacting with the uncertain environment, an equivalent model is assumed and then a controller satisfying the requirement of realizing definite trajectory and stability is designed. Controller in demonstrating its control, but also showed a fixed gain control trend. The test results show that the compensation system is insensitive to changes in parameters such as environmental stiffness and supply pressure and operates smoothly at various force settings.