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.
引文
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