比例阀控马达自调节前馈补偿跟踪控制_英文_.pdfVIP

Journal of Beij ing Institute of Technology , 1999, Vol. 8, No. 3 SelfAdjusting Feedforward Compensation Tracking Control for Proportional ValveControlled Motor Peng Xiw ei Wang Yu Wang Xiangzhou ( Department of Automatic Control, Beijing Inst itute of T echnolog , Beijing 100081) Abstract Aim Aiming at the position tracking control for valvecontrolled motor electroh draulic proportional servo s stems mainl driving the static load torque, the tracking perfor mance was studied in the presence of the variable gain and deadzone. Methods On the basis of conventional composite control with the deadzone compensation method, a comprehensive con trol approach with t he deadzone and selfadjusting feedforw ard compensat ion was proposed. Results Experimental results showed t hat the good tracking performance was achieved for the sinusoidal and constant velocit position tracking under a wide variations of load torque. Conclusion The position tracking accurac for valvecontrolled motor electroh draulic propor tional servo s stems has been solved b using the comprehensive control approach with the dead zone and selfadjusting feedforw ard compensation. ey words selfadjusting feedforward compensat ion; deadzone compensation; tracking control; electroh draulic proportional servo s stem Recentl , the electroh draulic proportional servo control has become one of the most impor tant research problems in the literature of electroh draulic servo s stems, and some progress has been achieved in applications. But, the position tracking control for valve controlled motor servo s stem w hich mainl driving the static load torque has been involved little. For the class of track ing control, the tracking errors are mainl composed of the position tracking error caus