Research On Modeling And Nonlinear Control Of Electro-hydraulic Servo System Of An Obstacle-breaking Weapon

Electro-hydraulic servo system is used as the control system of a blasting minesweeper.Because the internal parameters of the electro-hydraulic servo system are uncertain and vulnerable to external interference,it is a nonlinear system.It is difficult to accurately model and control it by using traditional modeling methods and control theories.In order to improve the control precision of the electro-hydraulic servo system,this paper studies the modeling and nonlinear control of the electro-hydraulic servo system in order to improve the operational performance of blasting minesweepers.In this paper,the working flow of blasting minesweeper,the hardware selection and performance parameters of each part of the system are introduced at first,and the corresponding relationship between the actual position of the launcher and the measured value of rotation is explained.According to the principle of hydraulic system,the transfer function and state space equation of the electro-hydraulic servo system are deduced,and the nonlinear characteristics of the electro-hydraulic servo system are analyzed according to the transfer function.According to the respective advantages of genetic programming and genetic algorithm,the two algorithms are fused to get the genetic algorithm based on genetic programming.The system is modeled by the method of identification based on the input and output data of AMESim simulation model.Aiming at the inefficiency of genetic algorithm based on genetic programming,the genetic expression programming algorithm is used to improve its operating efficiency.The mean square error between the model and the actual output was used as the performance index to evaluate the electro-hydraulic servo system model based on genetic algorithm and gene expression programming algorithm.The electro-hydraulic servo system is built in Simulink,and the adaptive dynamic surface controller is designed based on the dynamic surface design idea and backstepping design method,and the fuzzy reasoning theory is used to make up the problem of the lack of robustness of the adaptive dynamic surface controller.In the software simulation,the step signal and sinusoidal signal are input to the system to verify the static and dynamic tracking performance of the controller.Finally,the experimental platform and control software of the electro-hydraulic servo system of the minesweeper launcher are introduced.Based on the experimental platform to verify the robust adaptive dynamic surface controller with fuzzy robust adaptive dynamic surface controller of static and dynamic tracking performance,and will get import Matlab for data analysis of experimental data,analysis shows that the robust adaptive dynamic surface controller has better control performance and robustness,and can satisfy the performance index of the system requirements.