阀控非对称缸电液伺服系统线性自抗扰控制
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摘要
阀控非对称缸是一类典型电液伺服系统,具有强非线性和不确定性。传统非线性控制方法很难有效处理包含未建模态、外部扰动以及参数变化等多源不确定扰动对控制性能的影响。针对这一问题,本文提出了一种电液伺服系统线性自抗扰控制方法,利用线性扩张状态观测器实现综合扰动的实时估计,并采用状态误差反馈控制律给予主动补偿,同时消除跟踪误差。证明了设计的线性扩张状态观测器状态观测误差的收敛性。根据工程实际中的参数进行仿真研究,其结果表明这种控制方法能有效抑制电液伺服系统中不确定性扰动,与PID控制器相比具有较强的鲁棒性,并提高了位置跟踪精度。
The valve-controlled asymmetric cylinder is a typical electro-hydraulic servo system(EHSS) with strong nonlinearity and uncertainty. Traditional nonlinear control methods are difficult to effectively deal with multi-source uncertain disturbances including un-modeled states, external disturbances, parameter variations and so on. In this paper, we propose the linear active disturbance rejection control( LADRC) strategy for the EHSS. The linear extended state observer(LESO) is used to estimate the system integrated disturbance in real time, the state error feedback control law is employed to actively compensate the total disturbance and to eliminate tracking errors. The convergence of the state observation error of the LESO has been verified. Using the actual parameters simulation,the results show that the control approach can effectively suppress the multiple uncertainties disturbances of the EHSS,and realize the fast and accurate trajectory tracking of the given signal. Comparing with the traditional PID controller, it has strong disturbance rejection ability and improves position tracking accuracy.
The valve-controlled asymmetric cylinder is a typical electro-hydraulic servo system(EHSS) with strong nonlinearity and uncertainty. Traditional nonlinear control methods are difficult to effectively deal with multi-source uncertain disturbances including un-modeled states, external disturbances, parameter variations and so on. In this paper, we propose the linear active disturbance rejection control( LADRC) strategy for the EHSS. The linear extended state observer(LESO) is used to estimate the system integrated disturbance in real time, the state error feedback control law is employed to actively compensate the total disturbance and to eliminate tracking errors. The convergence of the state observation error of the LESO has been verified. Using the actual parameters simulation,the results show that the control approach can effectively suppress the multiple uncertainties disturbances of the EHSS,and realize the fast and accurate trajectory tracking of the given signal. Comparing with the traditional PID controller, it has strong disturbance rejection ability and improves position tracking accuracy.
引文
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[18] GAO Z Q. Scaling and bandwidth-parameterization based on control tuning[C]. Proc of the 2004 American C.ontrol C.onf.Denver:IEEE,2003:4989-4996
[2]金坤善,宋建丽,李永堂,等.四辊卷板机侧辊位移跟踪控制[J].机械工程学报,2017, 53(14):171-178.
[3]周梅.船舶舵机液压系统的构成及仿真研究[J].舰船科学技术,2018(2x).
[4]谢立敏,陈力,赵辉,漂浮基柔性关节、柔性臂空间机器人动力学建模、饱和鲁棒模糊滑模控制及双重柔性振动主动抑制[J].机械工程学报,2015,51(1):76-82.
[5] CHEN S H,FU L C. Observer-based backstepping control of a 6-dof parallel hydraulic manipulator[J].Control Engineering Practice,2015,36(1):100-112.
[6] QI H,LIU Z,LANG Y. Symmetrical valve controlled asymmetrical cylinder based on wavelet neural network[J].Engineering Computations,1017,34(7):2154-2167.
[7]俞珏,庄健,于德弘.采用李雅普诺夫函数的电液伺服系统反馈线性化控制[J].西安交通大学学报,2014,48(7):71-76.
[8] NGUYEN M N,TRAN D T, AHN K K. Robust position and vibration control of an electrolycralic series elastic manipulator against disturbance generated by a variable stiffness actuator[J]. Mechatronics,2018,52(4):22-35.
[9] GUO K,WEI J,FANG J,et al. Position tracking control of electro-hydraulic single-rod actuator based on an extended disturbance observer[J]. Mechatronics,2015,27(2):47-56.
[10]陈光荣,王军政,汪首坤等.自适应鲁棒控制器设计新方法在电液伺服系统中的应用[J].自动化学报,2016, 42(3):375-384.
[11] YAO B,BU F,REEDY J,et al. Adaptive robust motion control of single-rod hydraulic actuators:theory and experiments[J].IEEE/ASME transactions on mechatronics,2000,5(1):79-91.
[12] YAO J,YANG G,MA D,et al. Adaptive robust control for unknown nonlinear parameters of single-rod hydraulic actuators[C]//Control Conference(CCC),2014 33rd Chinese. IEEE,2014:7915-7920.
[13]方一鸣,许衍泽,李建雄.具有输人饱和的电液伺服位置系统自适应动态面控制[J].控制理论与应用,2014,31(4):511-518.
[14] GUAN C, PAN S. Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters[J]. Control Theory&Applications, 2008, 16(11):1275-1284.
[15] GDOURA E K,FEKI M,DERBEL N. Sliding mode control of a hydraulic servo system position using adaptive sliding surface and adaptive gain[J]. International Journal of Modeling, Identification and C.ontrol,2015,23(3):248-259.
[16]林浩,李恩,梁自泽.具有非线性不确定参数的电液伺服系统自适应backstepping控制[J].控制理论与应用,2016,33(2):181-188.
[17] HAN J. From PID to active disturbance rejection control[J]. IEEE Transactions on Industrial Electronics,2009,56(3):900-906.
[18] GAO Z Q. Scaling and bandwidth-parameterization based on control tuning[C]. Proc of the 2004 American C.ontrol C.onf.Denver:IEEE,2003:4989-4996