Research On Frictional Characteristic Control Theory Of Continuous Rotary Electro-Hydraulic Servo Motor

Continuous rotary electro-hydraulic servo motor is the core equipment of guidance system in areospace field.It is required that good ultra-low speed,high frequency response,wide speed regulation and high precision for highperformance continuous rotary motor.In practice,there are frictional interference,leakage,vibration and noise existing in continuous rotary electro-hydraulic servo system,as well as high nonlinearities and uncertainties,which seriously affect the properties of low speed and stability of the continuous rotary electrohydraulic servo system.Therefore,referring to the influences of friction on the low speed performances of the system,control strategy should be proposed and controllers should be designed for continuous rotary electro-hydraulic servo systems to improve the effects of nonlinearities and uncertainties caused by friction.A large number of domestic and foreign relevant literatures have been reviewed,and the research of continuous rotary motor and the key technologies and control theories of domestic research on electro-hydraulic servo systems have been introduced,then the research progress of friction models abroad and at home and the friction compensation strategy commonly used by researchers have been demonstrated.Firstly,the mathematical model of the system is established by using transfer functions of the continuous rotary electro-hydraulic servo system.A new Pol-Ind friction model is introduced for the friction interference.The experimental data is collected by producing the continuous rotary motor experiment and the Pol-Ind friction model is identified by using improved particle swarm optimization algorithm,so mathematical model of the friction of the continuous rotary electro-hydraulic servo system is obtained.Secondly,referring to the influence of highly nonlinearities existing in continuous rotary electro-hydraulic servo system,a self correcting wavelet neural network control strategy is place factor in the wavelet basis function are optimized by using the Adam optimization algorithm to realize gradient optimization.A self correcting wavelet neural network controller is designed.At last,the control result is comparied with PID control with the Seeker Optimization Algorithm by simulation.Thirdly,the robust control strategy with Adaboost prediction is proposed for the influence of nonlinearities such as dynamic uncertainty,system parametric perturbation,friction and leakage on the robustness and low speed of continuous rotary electro-hydraulic servo system.And the effect of the robust controller can be verified,by comparing with the self correcting wavelet neural network controller.Finally,the experimental platform of continuous rotary electro-hydraulic servo motor is built,the control program based on robust controller with Adaboost prediction is written by using C++Builder.The response characteristic curve of sinusoidal input signal are obtained by experiment.In contrast to the simulation result,the validity and correctness of the proposed robust controller are verified.