Cascade control method for hydraulic secondary regulation drive system based on adaptive robust control
Xiaochao Liu1, Zhenyu Wang2, Zhongyi Qiu2
1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
ISA Transactions
|December 5, 2024
Summary
This study introduces a new cascaded control method for hydraulic drive systems, significantly improving position tracking accuracy. The adaptive robust control approach enhances performance over traditional methods for high-order systems.
Area of Science:
- Control Systems Engineering
- Hydraulic Systems
- Robotics
Background:
- Hydraulic secondary regulation drive systems face challenges like high inertia and low damping, limiting control accuracy.
- Traditional adaptive robust control methods are insufficient for these high-order systems.
Purpose of the Study:
- To develop an advanced control strategy for hydraulic secondary regulation drive systems.
- To enhance position tracking accuracy and overcome system limitations.
Main Methods:
- A fifth-order model was developed, incorporating load inertia.
- A cascaded control approach with inner and outer loops was implemented.
- Adaptive robust control and swashplate disturbance compensation were utilized.
- A cascaded Lyapunov function ensured stability.
Main Results:
- The proposed method achieved superior position tracking accuracy compared to dual-PID and traditional adaptive robust control.
- Accuracy improvements ranged from 50-80% over dual-PID and 30-40% over traditional methods.
- Performance was validated under sinusoidal commands at 0.1 Hz and 0.25 Hz.
Conclusions:
- The cascaded adaptive robust control approach effectively addresses the challenges of high-order hydraulic drive systems.
- This method offers significant improvements in position tracking accuracy and system stability.
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