基于负载口独立控制的双伺服阀控缸系统

针对电液伺服系统对控制精度和节能的需求，提出了一种基于负载口独立控制的双伺服阀控缸系统.首先对系统进行了建模分析，然后利用鲁棒自适应的方法对系统进行了完全解耦，针对主、被动负载均存在的位置伺服工况，设计了以位置跟踪为目标的进油口控制器和以压力控制为目标的回油口控制器.同时分析了系统的节能性，设计了基于扩张状态观测器（ESO）的油源压力控制器以及液压泵流量控制器.最后通过实验验证该系统的控制性能和节能效果. 

Separate Meter in and Meter out Valve Controlled Cylinder System Based on Dual Servo Control

Aiming at the need for control precision and energy saving of electro-hydraulic servo system, a kind of separate meter in and meter out valve controlled cylinder system was proposed based on dual servo control. First, a mathematical model of the system was established. Then, the system was completely decoupled by using the adaptive robust method. According to the position servo conditions with active or negative loads, the inlet controller for position tracking and the outlet controller for pressure control were designed. At the same time, the energy saving of the system was analyzed, a source pressure controller was designed based on the ESO and the hydraulic pump flow servo controller was designed. Finally, the experiments were carried out to verify the control performance and energy-saving effect of the system.