直接法モデル規範形適応制御理論の電気油圧サーボシステムへの応用 サーボ弁・油圧モータによる位置決め制御

Abstract

This paper deals with an application of a Model Reference Adaptive Control theory for an electrohydraulic system. The PID or state variable feedback control method usually has been used in the hydraulic fluid power field. The design of PID control is based on unity feedback, and the controller parameters must be decided by trial and error. Accordingly, the required system response cannot always be satisfied, and stability of the system cannot be ensured. In the state variable feedback, it is difficult to know the parameters of the practical hydraulic system exactly, and the plant parameters often vary with changes in the operating conditions such as inertia load, oil temperature and so on. The adaptive control system can control a plant which has unknown or time variable parameters. Recently, in the electro-hydraulic field the adaptive control has been applied extensively.In the present paper, the Model Reference Adaptive Control theory is applied to the electro-hydraulic system. From several parameter adjustment laws, a constant gain algorithm and a least squares method are adopted. A digital computer is used since a lot of multiplying operations are required to carry out the adaptive control method.The experimental apparatus used consists of an electrohydraulic servo valve, a hydraulic motor, an inertia load and a micro processor.