| Electro-hydraulic servo loading system is a typical position disturbance force control system.Due to the strong external disturbances in the loading system,a large surplus force will appear in the loading system.The introduction of extra force will seriously affect the system's force tracking accuracy and control effect.Therefore,it is important to suppress or eliminate the surplus force.In this paper,the electro-hydraulic servo system is taken as the research object,the composition and working principle of the loading system are analyzed in detail;the mathematical model of the system is established,the theoretical analysis and the design of the control method are studied;At last,the control algorithm adopted is verified by simulation and experiment.The detailed research work is as follows:The composition and working principle of the force loading system are introduced.Since the initiative force control is the basis of the passive force control,then the mathematical model of the initiative force control system and the passive force control system are respectively obtained,the transfer function and the state space equation are obtained.Then,the generation of excess force in the system of the loading force control is analyzed,which lays a theoretical foundation for the verification of the control strategy in the next step.Because the electro-hydraulic servo loading system has the characteristics of timevarying,nonlinear and strong external disturbances.In order to compensate and eliminate the external disturbances effectively,this paper adopts ADRC technology to study it,disturbing the composition and working principle of the controller,and setting rules of the parameters are introduced.The controlled system was set up on AMEsim and Simulink simulation platform to verify the control strategy.The PID control algorithm and ADRC algorithm are respectively used to simulate the load force control system.The expected simulation results are obtained,and the feasibility and effectiveness of ADRC algorithm are proved.In order to verify the actual control effect of the adopted algorithm,an experimental platform of the controlled system was set up.An embedded system based on STM32F105 was designed,the hardware and software of the control system are completed.Through the processing and analysis of a large number of experimental data,the results verify the effectiveness and feasibility of the control strategy. |
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