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本文首先针对电液位置伺服系统进行了分析,然后提出了一种采用一阶参考模型的模型参考自适应控制方案。并设计制作了一台仿真仪,通过实时仿真验证了所设计的方案的正确性。 液压伺服系统是一个非线性、慢时变系统。 电液伺服阀的传递函数:W(s)=K_θ/(S~2/W_r~2+2ξ_vs/W_v+1) 液压马达(或油压缸)的相对阀芯位移的传递函数可写成:
In this paper, the electrohydraulic position servo system is firstly analyzed and then a model reference adaptive control scheme using first-order reference model is proposed. And a simulator is designed and manufactured. The correctness of the designed scheme is verified by real-time simulation. Hydraulic servo system is a nonlinear, slow time-varying system. The transfer function of the electro-hydraulic servo valve: W (s) = K_θ / (S ~ 2 / W_r ~ 2 + 2ξ_vs / W_v + 1) The transfer function of the relative spool displacement of the hydraulic motor (or hydraulic cylinder)