Research On Low Speed Performance Control Strategy Of Continuous Rotary Electro-Hydraulic Servo Motor

Continuous rotary electro-hydraulic servo motor is mainly used in various sophisticated equipment,such as aircraft,tanks,missile systems and other aerospace or military fields.Therefore,the continuous rotary motor must have good performance,such as low speed performance,tracking performance,frequency response characteristics,etc… At present,in order to meet the challenges to home and abroad and improve China’s comprehensive strength,higher requirements have been set for core equipment due to competition and constant upgrading of military equipment in the aviation field.Due to the existence of friction,leakage,vibration,noise and other uncertain factors in the actual continuous rotary motor system,the performance of the continuous rotary electro-hydraulic servo motor system is greatly affected.How to design a controller to improve the performance of continuous rotary motor system is of great significance.In order to improve the performance of the control system of the continuous rotary motor,this paper studies the performance of the electro-hydraulic servo system of the continuous rotary motor under the condition that the system has no precise mathematical model.The research status of continuous rotary motor,electro-hydraulic servo system,finite time control and model-free adaptive control(MFAC)at home and abroad is summarized by referring to domestic and foreign literature,and the characteristics of the finite time controller and MFAC controller is analyzed.Firstly,the mathematical model of continuous rotary motor system is established.According to the identification data onto the continuous rotary motor system,the ARMAX identification model of the continuous rotary electro-hydraulic servo motor system was obtained,and the accuracy of the identification model was verified by comparing the output data onto the identification model with the actual collected output data.The performance of the continuous rotary motor system are analyzed and the stability and frequency characteristics of the system are verified.Secondly,the state equation of continuous rotary motor system is established,and the finite time controller of continuous rotary motor system is designed to improve the convergence speed of the system and reduce the stability time of the system.A finite time state observer is designed to observe the state of the system and control the continuous rotary motor system accurately.By comparing with PID control simulation,the feasibility of the finite time composite controller is verified.Then,the model-free adaptive control of the continuous rotary motor system is proposed,the MFAC controller is designed,the stability and convergence of the controller is proved,and the parameters of the MFAC controller are adjusted,and the effectiveness of the MFAC controller is verified by simulation.Compared with the simulation results of MFAC controller and finite time composite control,it is proved that the precise mathematical model of the system can get better control effect.Finally,the MFAC controller is used to conduct experimental research on the performance of the continuous rotary motor,and different input signals are used to verify the effect of the MFAC controller of the continuous rotary motor,which proves the effectiveness of the controller.