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首页> 外文会议>IEEE Conference on Industrial Electronics and Applications >Backstepping adaptive control of dual-variable electro-hydraulic actuator with displacement-pressure regulation pump
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Backstepping adaptive control of dual-variable electro-hydraulic actuator with displacement-pressure regulation pump

机译：带排量调压泵的双变量​​电液执行器的反步自适应控制

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摘要

Electro-hydraulic actuator(EHA) with variable rotational speed fixed displacement pump or fixed rotational speed variable displacement pump flow regulation has been very common. But these two kinds of EHA need to be improved in heating and response characteristics. The dual-variable EHA system with variable rotational speed motor and variable displacement pump regulated by pressure not only has a great advantage in reducing the heating problem, but also can effectively improve the dynamic characteristics of the system. In this paper, the displacement control method of this kind of EHA pump is studied, and the electro-hydraulic proportional pressure reducing valve is used to the pressure in displacement-controlled cylinder. When the EHA load is large, the load torque acted on the electric-motor shaft will be not increased because of the regulation of pressure-displacement variable pump, thereby reducing the current and heating of the motor. In this paper, the backstepping adaptive control method is used to overcome the uncertainty of the hydraulic system. The simulation results show the effectiveness of the control approaches.
机译：具有可变转速的固定排量泵或固定转速的可变排量泵流量调节的电液致动器已经很普遍。但是，这两种EHA的加热和响应特性都需要改进。具有变速电动机和压力调节的可变排量泵的双变量​​EHA系统不仅在减少加热问题方面具有很大的优势，而且可以有效地改善系统的动态特性。本文研究了这种EHA泵的排量控制方法，并将电动液压比例减压阀用于排量控制缸中的压力。当EHA负载较大时，由于对压力-可变变量泵的调节，作用在电动机轴上的负载转矩不会增加，从而减小了电动机的电流和热量。本文采用反步自适应控制方法克服了液压系统的不确定性。仿真结果表明了控制方法的有效性。

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