Research on nonlinear control strategy of valve-controlled cylinder system based on improved LuGre friction model

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Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (11) : 139-147.

GAO Bingwei1,2， SHEN Wei1,2， DAI Ye1,2， GUAN Hao1,2

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Abstract

Aiming at the control problem of an electro-hydraulic servo system with high nonlinearity, a friction model suitable for the servo system is proposed. The parameters of the established friction model are identified by the genetic algorithm, and an accurate mathematical model of friction torque is obtained, which is added to the nonlinear control as a feedforward compensation to reduce the influence of friction nonlinearity on the electro-hydraulic servo system. To solve the chattering phenomenon that is easy to occur in the commutation process of the servo system, a fuzzy variable coefficient active disturbance rejection controller based on friction model feedforward compensation is designed. Based on the quasi-hyperbolic sine function, the state error feedback control part is devised to smooth the output jitter at the switching point. On this basis, combined with the fuzzy adaptive control method, the nonlinear state feedback coefficient is adjusted by error and error differential. The research shows that the above control strategy can effectively improve the response speed, convergence speed, stability, and robustness of the system, and reduce the influence of over-compensation and under-compensation on friction. It has a good inhibitory effect on the commutation of the servo system and the chattering at the zero point of the speed.

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active disturbance rejection / friction / compensation / fuzzy self-adaptation / identification

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GAO Bingwei1,2， SHEN Wei1,2， DAI Ye1,2， GUAN Hao1,2. Research on nonlinear control strategy of valve-controlled cylinder system based on improved LuGre friction model[J]. Journal of Vibration and Shock, 2023, 42(11): 139-147

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