In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors,such as dynam...In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors,such as dynamic uncertainty and parameter perturbation,an improved active disturbance rejection control(ADRC)strategy was proposed.The state space model of the fifth order closed-loop system was established based on the principle of valve-controlled hydraulic motor.Then the three parts of ADRC were improved by parameter perturbation and external disturbance;the fast tracking differentiator was introduced into linear and non-linear combinations;the nonlinear state error feedback was proposed using synovial control;the extended state observer was determined by nonlinear compensation.In addition,the grey wolf algorithm was used to set the parameters of the three parts.The simulation and experimental results show that the improved ADRC can realize the system frequency 12 Hz when the tracking accuracy and response speed meet the requirements of double ten indexes,which lay foundation for the motor application.展开更多
In order to solve the problem of pressure shock on the continuous rotary electro-hydraulic servo motor,the mathematical models of pressure gradient under the structure of pre-compressed chamber and U-shaped groove wer...In order to solve the problem of pressure shock on the continuous rotary electro-hydraulic servo motor,the mathematical models of pressure gradient under the structure of pre-compressed chamber and U-shaped groove were established.The optimal structure dimensions of the pre-compressed chamber and the U-shaped groove were determined.The fluid models were established by Solidworks under the four structures of triangular groove,triangular groove with pre-compression chamber,U-shaped groove and U-shaped groove with pre-compression chamber.Simulation analysis of depressurization process of fluid models was performed based on FLUENT.The pressure nephograms of different buffer structures were compared and analyzed,and the pressure change curves and pressure gradient change curves in the process of depressurization were obtained.The results show that the optimal edge length of the pre-compressed chamber of continuous rotary electro-hydraulic servo motor is 20 mm in the process of decompression.The pressure reduction effect is the best when the width of the U-shaped groove is 1.5 mm and the depth is 1.65 mm.The U-shaped groove structure with pre-compression chamber is more conducive to alleviate the pressure shock phenomenon of the motor compared with different combine buffer structures.展开更多
基金Project(51975164)supported by the National Natural Science Foundation of ChinaProject(2019-KYYWF-0205)supported by the Fundamental Research Foundation for Universities of Heilongjiang Province,China。
文摘In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors,such as dynamic uncertainty and parameter perturbation,an improved active disturbance rejection control(ADRC)strategy was proposed.The state space model of the fifth order closed-loop system was established based on the principle of valve-controlled hydraulic motor.Then the three parts of ADRC were improved by parameter perturbation and external disturbance;the fast tracking differentiator was introduced into linear and non-linear combinations;the nonlinear state error feedback was proposed using synovial control;the extended state observer was determined by nonlinear compensation.In addition,the grey wolf algorithm was used to set the parameters of the three parts.The simulation and experimental results show that the improved ADRC can realize the system frequency 12 Hz when the tracking accuracy and response speed meet the requirements of double ten indexes,which lay foundation for the motor application.
基金Project(51975164)supported by the National Natural Science Foundation of ChinaProject(201908230358)supported by the China Scholarship CouncilProject(2019-KYYWF-0205)supported by the Fundamental Research Foundation for Universities of Heilongjiang Province,China。
文摘In order to solve the problem of pressure shock on the continuous rotary electro-hydraulic servo motor,the mathematical models of pressure gradient under the structure of pre-compressed chamber and U-shaped groove were established.The optimal structure dimensions of the pre-compressed chamber and the U-shaped groove were determined.The fluid models were established by Solidworks under the four structures of triangular groove,triangular groove with pre-compression chamber,U-shaped groove and U-shaped groove with pre-compression chamber.Simulation analysis of depressurization process of fluid models was performed based on FLUENT.The pressure nephograms of different buffer structures were compared and analyzed,and the pressure change curves and pressure gradient change curves in the process of depressurization were obtained.The results show that the optimal edge length of the pre-compressed chamber of continuous rotary electro-hydraulic servo motor is 20 mm in the process of decompression.The pressure reduction effect is the best when the width of the U-shaped groove is 1.5 mm and the depth is 1.65 mm.The U-shaped groove structure with pre-compression chamber is more conducive to alleviate the pressure shock phenomenon of the motor compared with different combine buffer structures.
