The invention provides a variable-speed approaching and disturbance compensation control method for a pump-controlled electro-hydraulic steering system, and the method comprises the steps: carrying out the precise estimation of the lumped disturbance of the pump-controlled electro-hydraulic servo steering system through a variable-speed approaching Terminal sliding mode disturbance observer, and carrying out the feed-forward compensation of the lumped disturbance of the system through a self-adaptive incomplete compensation method related to a corner error. The disturbance compensation coefficient is automatically adjusted along with the error change, and steering precision and steering stability are both considered; the method comprises the following steps; the method comprises the following steps: S1, establishing a mathematical model of a pump-controlled electro-hydraulic steering system; s2, designing a variable-speed sliding mode reaching law; step S3, designing a variable speed approaching Terminal sliding mode disturbance observer; s4, designing an incomplete disturbance compensation variable speed approaching sliding mode controller; step S5, designing a Lyapunov stability analysis function of the closed-loop system; according to the method, high-precision steering control can be realized without acquiring a precise model and a disturbance upper bound of the pump-controlled electro-hydraulic steering system.
本发明提出一种泵控电液转向系统的变速趋近与扰动补偿控制方法,所述方法以变速趋近Terminal滑模干扰观测器对泵控电液伺服转向系统的集总扰动进行精准估计,并以关联转角误差的自适应不完全补偿方法对系统集总扰动进行前馈补偿,该扰动补偿的系数跟随误差变化而自动调整,兼顾转向精度和转向稳定性;所述方法包括以下步骤;步骤S1,建立泵控电液转向系统的数学模型;步骤S2,设计变速滑模趋近律;步骤S3,设计变速趋近Terminal滑模干扰观测器;步骤S4,设计不完全扰动补偿变速趋近滑模控制器;步骤S5,设计闭环系统Lyapunov稳定性分析函数;本发明无需获取泵控电液转向系统精确模型和扰动上界,就能实现高精度转向控制。
Variable speed approaching and disturbance compensation control method of pump control electro-hydraulic steering system
一种泵控电液转向系统的变速趋近与扰动补偿控制方法
2024-05-03
Patent
Electronic Resource
Chinese
ELECTRO-HYDRAULIC STEERING SYSTEM USING REVERSIBLE-DISCHARGE-DIRECTION VARIABLE HYDRAULIC PUMP
European Patent Office | 2016
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