有限转角力矩电机直驱液压伺服转阀高精度控制OA

To address the coupled disturbances of inductance lag faced by the limited-angle torque motor and the high-stiffness rotary flow forces of the direct-drive servo rotary valve,a dual-model feedforward discrete integral sliding mode control strategy is proposed.To solve the issues of a long initial dead zone and steady-state high-frequency chattering in traditional pure sliding mode control,this strategy introduces a mechanical model feedforward to actively cancel the return spring and steady-state flow forces,effectively unloading elastic loads and suppressing chattering.Furthermore,to overcome the response lag limitation caused by the lack of over-drive in the single mechanical feedforward,this strategy superimposes an inverse electrical model feedforward to generate an over-drive voltage at the instant of command mutation,actively overcoming the coil inductance lag.High-fidelity comparative simulations indicate that this strategy compresses the initial dead zone to 0.6 ms and further shortens the step rise time by 38.5%to 8.0 ms compared to the single feedforward scheme.Bench tests at 7 MPa further verify the actual effectiveness of the strategy,showing a measured step rise time of approximately 8.2 ms and a steady-state tracking error converging to 0.04°.