基于自抗扰控制的铣面机床电液位置伺服系统控制策略
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摘要
为了提高铣面机床电液伺服系统的位置控制精度,提出一种基于自抗扰控制的铣面机床电液位置伺服系统控制策略。根据伺服阀控非对称伺服缸在伸出和缩回两种不同工况下的特点分别建立了相应的流体动力学模型,并结合其他环节推导出铣面机床电液位置伺服系统的闭环传递函数;依据该系统的特点设计出三阶自抗扰控制策略,通过扩张状态观测器对系统参数时变和外部扰动进行估计和补偿,并采用仿真和工业现场实验对所设计的控制策略性能进行了现场应用验证。仿真及现场应用表明,所设计的自抗扰控制策略能够使系统的位置输出基本不受控制对象参数改变的影响,具有比传统PID控制策略更好的内部鲁棒性和抗干扰能力,有效抑制了外部扰动对系统位置控制精度的干扰。
To improve the position control accuracy of electro-hydraulic servo system for surface milling machine,a control strategy of milling face's electro-hydraulic position servo system based on Active Disturbance Rejection Control(ADRC)technique was proposed.According to the characteristics of valve controlled asymmetrical cylinder in two different conditions of extend and retract,the corresponding fluid dynamics model were established,and the transfer function of system was deduced by other links.The three order ADRC strategy was designed on the basis of the system characteristics,and the extended state observer was used to estimate and compensate the time-varying of system parameters and external disturbance.The performance of designed control strategy was verified by simulation and industrial field experiments.The results showed that ADRC strategy could make the position output of system not affect by the change of control object's parameters,and had better internal robustness and anti-interference ability than traditional PID control strategy,which could suppress the external disturbances on the system effectively.
To improve the position control accuracy of electro-hydraulic servo system for surface milling machine,a control strategy of milling face's electro-hydraulic position servo system based on Active Disturbance Rejection Control(ADRC)technique was proposed.According to the characteristics of valve controlled asymmetrical cylinder in two different conditions of extend and retract,the corresponding fluid dynamics model were established,and the transfer function of system was deduced by other links.The three order ADRC strategy was designed on the basis of the system characteristics,and the extended state observer was used to estimate and compensate the time-varying of system parameters and external disturbance.The performance of designed control strategy was verified by simulation and industrial field experiments.The results showed that ADRC strategy could make the position output of system not affect by the change of control object's parameters,and had better internal robustness and anti-interference ability than traditional PID control strategy,which could suppress the external disturbances on the system effectively.
引文
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[13] LIU Wenjiang,SUI Qingmei,ZHOU Fengyu.Straight line tracking control of ships based on ADRC[J].Journal of Shandong University:Engineering Science,2010,40(6):48-53(in Chinese).[刘文江,隋青美,周风余.基于自抗扰控制技术的船舶直线航迹控制器设计[J].山东大学学报:工学版,2010,40(6):48-53.]
[14] LIU Shanhui,MEI Xuesong,LI Jian,et al.Design feedforward active disturbance rejection control controller for multicolor register system[J].Journal of Mechanical Engineering,2015,51(5):143-150(in Chinese).[刘善慧,梅雪松,李健,等.多色套准系统前馈自抗扰控制器设计[J].机械工程学报,2015,51(5):143-150.]
[15] GAO Bingwei,SHAO Junpeng,LI Jianying,et al.A compound control strategy combining load compensation with ADRC of electro-hydraulic position control system[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):333-339(in Chinese).[高炳微,邵俊鹏,李建英,等.基于负载力补偿的自抗扰复合电液位置控制方法[J].农业机械学报,2014,45(10):333-339.]
[16] LU Meng,ZHANG Qisheng,LIU Chunqing,et al.Experimental research of electro-hydraulic position servo control system based on auto disturbances rejection controller[J].Fluid Power Transmission and Control,2012,26(4):7-10(in Chinese).[吕猛,张齐生,刘春庆,等.基于自抗扰控制器的电液位置伺服控制系统的实验研究[J].流体传动与控制,2012,26(4):7-10.]
[2] LIU Zhigang,SUN Chunya.Simulation research of electrohydraulic servo PID position control system[J].Journal of Chinese Agriculture Mechanization,2016,42(10):171-175(in Chinese).[刘志刚,孙春亚.电液伺服PID位置控制系统的仿真研究[J].中国农机化学报,2016,42(10):171-175.]
[3]WON D,KIM W.Disturbance observer based backstepping for position control of electro-hydraulic systems[J].International Journal of Control,Automation and Systems,2015,13(2):488-493.
[4] MILIC'V,SITUM Z,ESSERT M.Robust H∞position control synthesis of an electro-hydraulic servo system[J].ISA Transactions,2010,49(4):535-542.
[5] KIM J S,HAN M K,PARK S H.Robust control of electrohydraulic actuator systems using the adaptive back-stepping control scheme[J].Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering,2010,1(16):737-746.
[6] YAO Jianyong,JIAO Zongxia,HUANG Cheng.Compound control for electro-hydraulic positioning servo system based on dynamic inverse model[J].Journal of Mechanical Engineering,2011,47(10):145-151(in Chinese).[姚建勇,焦宗夏,黄澄.基于动态逆模型的电液位置伺服系统复合控制[J].机械工程学报,2011,47(10):145-151.]
[7] SHAO Junpeng,ZHANG Ling,JIN Zhaohui.Fractional order PID control for an electro-hydraulic position servo system based on repetitive control compensation[J].Journal of Beijing University of Technology,2015,41(4):519-525(in Chinese).[邵俊鹏,张领,金朝晖.基于重复控制补偿的电液位置伺服系统分数阶PID控制[J].北京工业大学学报,2015,41(4):519-525.]
[8] HAN Jingqing.Active disturbance rejection control technique:the technique for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2008(in Chinese).[韩京清.自抗扰控制技术:估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.]
[9] HAN Jingqing.From PID to active disturbance rejection control[J].IEEE Transactions on Industrial Electronics,2009,56(3):900-906.
[10] GAO Zhiqiang.On the foundation of active disturbance rejection control[J].Journal of Control Theory&Applications,2013,30(12):1498-1510(in Chinese).[高志强.自抗扰控制思想探究[J].控制理论与应用,2013,30(12):1498-1510.]
[11] GUO Dong,FU Yongling,LU Ning,et al.Application of ADRC technology in electro-hydraulic force servo system[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(1):115-119(in Chinese).[郭栋,付永领,卢宁,等.自抗扰控制技术在电液力伺服系统中的应用[J].北京航空航天大学学报,2013,39(1):115-119.]
[12] GUAN Zhimin,WANG Bingshu,LIN Yongjun,et al.Main steam temperature control of thermal power plant based on active disturbance rejection control[J].Journal of System Simulation,2009,21(1):307-311(in Chinese).[管志敏,王兵树,林永君,等.自抗扰控制在火电厂主汽温控制中的应用研究[J].系统仿真学报,2009,21(1):307-311.]
[13] LIU Wenjiang,SUI Qingmei,ZHOU Fengyu.Straight line tracking control of ships based on ADRC[J].Journal of Shandong University:Engineering Science,2010,40(6):48-53(in Chinese).[刘文江,隋青美,周风余.基于自抗扰控制技术的船舶直线航迹控制器设计[J].山东大学学报:工学版,2010,40(6):48-53.]
[14] LIU Shanhui,MEI Xuesong,LI Jian,et al.Design feedforward active disturbance rejection control controller for multicolor register system[J].Journal of Mechanical Engineering,2015,51(5):143-150(in Chinese).[刘善慧,梅雪松,李健,等.多色套准系统前馈自抗扰控制器设计[J].机械工程学报,2015,51(5):143-150.]
[15] GAO Bingwei,SHAO Junpeng,LI Jianying,et al.A compound control strategy combining load compensation with ADRC of electro-hydraulic position control system[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):333-339(in Chinese).[高炳微,邵俊鹏,李建英,等.基于负载力补偿的自抗扰复合电液位置控制方法[J].农业机械学报,2014,45(10):333-339.]
[16] LU Meng,ZHANG Qisheng,LIU Chunqing,et al.Experimental research of electro-hydraulic position servo control system based on auto disturbances rejection controller[J].Fluid Power Transmission and Control,2012,26(4):7-10(in Chinese).[吕猛,张齐生,刘春庆,等.基于自抗扰控制器的电液位置伺服控制系统的实验研究[J].流体传动与控制,2012,26(4):7-10.]