摘要
针对电液位置伺服控制系统的比例阀死区、参数不确定及外部未知扰动等问题,设计了由自抗扰控制器与死区逆补偿构成的串联控制器。首先基于实验辨识构造死区逆模型对死区进行预补偿,然后根据系统特性设计了一阶自抗扰控制器,构造改进的扩张状态观测器对“总扰动”进行实时估计,并通过非线性控制律给予主动补偿。联合仿真与试验结果表明,所提出的串联控制器有效地补偿了比例阀死区,提高了系统动态性能和位置跟踪精度。
Aiming for the problems of proportional valve dead-zone,parametric uncertainties,and unknown external disturbances in electro-hydraulic position servo control systems,a cascade controller which was composed of ADRC and dead-zone inverse compensation was designed.Firstly,the valve dead-zone was pre-compensated by an inverse model which was established based on experimental identification.Then,according to the characteristics of the system,the first-order ADRC was designed.“general disturbances”were estimated by an improved ESO and compensated by a nonlinear control law in real-time.The results of co-simulation and experiments show that the proposed cascade controller effectively compensates the proportional valve dead-zone,improves dynamic performances and position tracking accuracy of the system.
作者
王立新
赵丁选
刘福才
刘谦
张祝新
WANG Lixin;ZHAO Dingxuan;LIU Fucai;LIU Qian;ZHANG Zhuxin(School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei,066004;Hebei Province Key Lab of Industrial Computer Control,Yanshan University,Qinhuangdao,Hebei,066004)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2021年第12期1432-1442,共11页
China Mechanical Engineering
基金
国家重点研发计划(2016YFC0802902)
河北省自然科学基金创新研究群体项目(E2020203174)
河北省重点研发计划(20353501D)。
关键词
液压系统
死区
自抗扰控制
扩张状态观测器
hydraulic system
dead-zone
active disturbance rejection control(ADRC)
extended state observer(ESO)
