阀控单出杆缸电液伺服系统二阶线性自抗扰控制

金坤善, 宋建丽, 梁涛, 李永堂, 仉志强

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液压与气动 ›› 2021, Vol. 45 ›› Issue (3) : 25-32. DOI: 10.11832/j.issn.1000-4858.2021.03.004
理论研究

阀控单出杆缸电液伺服系统二阶线性自抗扰控制

  • 金坤善1,2, 宋建丽3, 梁涛4, 李永堂1, 仉志强1
作者信息 +

Second-order Linear Active Disturbance Rejection Control for Valve-controlled Single-rod Cylinder Electro-hydraulic Servo System

  • JIN Kun-shan1,2, SONG Jian-li3, LIANG Tao4, LI Yong-tang1, ZHANG Zhi-qiang1
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History +

摘要

为提高阀控单出杆缸电液伺服系统性能,在构建阀控单出杆缸电液伺服系统动态机理模型基础上,提出了一种具有加速度前馈的二阶线性自抗扰控制(Linear Active Disturbance Rejection Control, LADRC)方法,采用奇异摄动理论分析了闭环系统稳定性,并针对系统响应性能和抗干扰性能与传统PID控制进行仿真和实验对比。结果表明:具有加速度前馈的LADRC对系统中存在的多源不确定扰动具有较强鲁棒性,能有效提高系统动、静态性能,并实现对给定信号的快速、精确轨迹跟踪。

Abstract

In order to improve the performance of the valve-controlled single-rod cylinders electro-hydraulic servo system, on the construction of the dynamic mechanism model of the system, the second-order linear active disturbance rejection control with acceleration feed-forward is proposed. The system stability is analyzed based on the singular perturbation theory. And the response and anti-interference performance are compared by simulation and experiment, with traditional PID control. The results show that the proposed control strategy has strong robustness to the multi-source uncertain disturbance in the system, can effectively improve the dynamic and static performance of the system, and achieve the fast and accurate tracking for the given signal.

关键词

阀控单出杆缸 ; 电液伺服系统 ; 线性自抗扰控制 ; 线性扩张状态观测器

Key words

valve-controlled single-rod cylinder ; electro-hydraulic servo system ; linear active disturbance rejection control ; linear extended state observer

基金

国家重点研发计划(2018YFA0707305);高性能复杂制造国家重点实验室开放课题基金(KFKT2018-13);山西省科技重大专项(20191102009);太原科技大学博士启动基金(20202043)

引用本文

导出引用
金坤善, 宋建丽, 梁涛, 李永堂, 仉志强. 阀控单出杆缸电液伺服系统二阶线性自抗扰控制[J].液压与气动, 2021, 45(3): 25-32. https://doi.org/10.11832/j.issn.1000-4858.2021.03.004
JIN Kun-shan, SONG Jian-li, LIANG Tao, LI Yong-tang, ZHANG Zhi-qiang. Second-order Linear Active Disturbance Rejection Control for Valve-controlled Single-rod Cylinder Electro-hydraulic Servo System[J]. CHINESE HYDRAULICS & PNEUMATICS, 2021, 45(3): 25-32. https://doi.org/10.11832/j.issn.1000-4858.2021.03.004

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