自抗扰控制技术在电动缸伺服系统中的研究
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摘要
某舰炮高低系统采用电动缸传动方式,对高低系统进行分析,得出电动缸伺服系统的电机转动与火炮身管转动存在非线性关系,提出将自抗扰控制技术应用于电动缸伺服系统,设计了用于系统位置环的自抗扰控制器。利用MATLAB软件对采用自抗扰控制器的电动缸伺服系统进行了仿真研究,并与传统PID控制的结果进行对比分析,仿真结果表明,基于ADRC的电动缸伺服系统响应速度快、稳态误差小、无超调、定位精度高、跟踪误差小。
The electric cylinder transmission mode is used in the high and low system of naval gun,by analyzing the high-low system,it is concluded that there are nonlinear relationships between the moter rotation and the barrel rotation of the electric cylinder servo system,active disturbance rejection controller( ADRC) is applied to the electric cylinder servo system,and an active disturbance rejection controller is designed for the system position loop. The use of electric cylinder servo system based on ADRC is simulated by using MATLAB software,and compared with the traditional PID control result,the simulation results show that the electric cylinder ADRC control system has quick response speed,small steady-state error,no overshoot,high precision and small tracking error.
The electric cylinder transmission mode is used in the high and low system of naval gun,by analyzing the high-low system,it is concluded that there are nonlinear relationships between the moter rotation and the barrel rotation of the electric cylinder servo system,active disturbance rejection controller( ADRC) is applied to the electric cylinder servo system,and an active disturbance rejection controller is designed for the system position loop. The use of electric cylinder servo system based on ADRC is simulated by using MATLAB software,and compared with the traditional PID control result,the simulation results show that the electric cylinder ADRC control system has quick response speed,small steady-state error,no overshoot,high precision and small tracking error.
引文
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[4]韩京清.自抗扰控制技术[M].北京:国防工业出版社,2013:46-351.
[5]韩京清,袁露林.跟踪-微分器的离散形式[J].系统科学与数学,1999,19(3):268-273.
[6]韩京清.自抗扰控制技术[J].前沿科学,2007(1):24-31.
[7]韩京清.一类不确定对象的扩张状态观测器[J].控制与决策,1995,10(1):85-88.
[8]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.
[9]陈明俊,李长红,杨燕.武器伺服系统工程实践[M].北京:国防工业出版社,2013:9-15.