摘要
电液位置伺服系统具有非线性、时变性、参数不确定性、负载扰动及测量噪声等问题,使得PID控制的电液位置伺服系统精度较低,在负载扰动和参数变化较大时,控制效果较差,ADRC能够有效解决此问题,但是ADRC参数过多,难以整定。针对此问题,采用RBF神经网络在线整定ADRC参数的方法,实现电液位置伺服系统ADRC控制的参数自整定。与传统控制对比,应用RBF-ADRC、ADRC、PID 3种控制算法对电液位置伺服系统的控制效果进行仿真分析。仿真结果表明:RBF-ADRC和ADRC控制具有更好的实时性、抗干扰能力和自适应能力,能够有效地解决电液位置伺服系统的高精度控制。
The electro-hydraulic position servo system has problems such as nonlinearity,time-varying,parameter uncertainty,load disturbance and measurement noise,resulting in low accuracy of the PID controlled electro-hydraulic position servo system.When the load disturbance and parameter changes are large,the control effect is poor.ADRC can effectively solve this problem,but the parameters of ADRC are too many,which are difficult to adjust.In view of this problem,the method of online tuning ADRC parameters with RBF neural network was used to achieve parameter self-tuning of ADRC control in the electro-hydraulic position servo system.Comparing with traditional control,three control algorithms of RBF-ADRC,ADRC,and PID were applied to simulate and analyze the control effect of the electro-hydraulic position servo system.The simulation results show that RBF-ADRC and ADRC control have better real-time performance,anti-interference ability and adaptive ability,which can effectively solve the high-precision control of electro-hydraulic position servo systems.
作者
王棒
李跃松
张贻哲
WANG Bang;LI Yuesong;ZHANG Yizhe(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang Henan 471003,China)
出处
《机床与液压》
北大核心
2024年第20期168-174,共7页
Machine Tool & Hydraulics
基金
国家自然科学基金青年科学基金项目(51605145)。
关键词
电液位置伺服系统
RBF
ADRC
时变非线性
electro hydraulic position servo system
RBF
ADRC
time-varying nonlinearity
