工业重载液压力伺服系统的抗扰动控制  

Disturbance Rejection Control of Industrial Heavy-load Hydraulic Force Servo System

作　　者：杨博[1] 李宛洲[1] 姜兆芳[1] 史铜钢 吴冠元 孙永军[2] 

机构地区：[1]清华大学自动化系,北京100084 [2]中钢集团邢台机械轧辊有限公司,邢台054025

出　　处：《自动化学报》2009年第7期926-932,共7页Acta Automatica Sinica

摘　　要：由于重载荒磨机负载惯性大阻尼小,施力系统开环传递函数含有一对纯虚零点,而且负载特性变化会明显影响开环频带宽度.同时,砂轮高速旋转会产生高频率大幅度的偏心力干扰,由于系统频响较低,单纯的输出反馈方式无法抑制干扰.本文通过采用非线性跟踪微分器提取状态观测量并引入非线性前馈系数,消除了纯虚零点,消除了负载特性变化对开环频宽的影响,显著地抑制了外部位移干扰和偏心力干扰,从而使得产品质量大幅度提高.Because the load of heavy-load rough grinding machine has large inertia and low damping, a couple of virtual zeros exist in the open-loop transfer function, and the open-loop bandwidth is also affected by the characteristics of load. High-speed rotating wheel will generate eccentric interference of high frequency and large magnitude, and a simple output feedback method can not suppress the interference because of the low frequency response of the system. In this paper, by adopting nonlinear tracking differentiator to pick up the state variable and introducing nonlinear feedforward coefficient, virtual zeros and the impact on open-loop bandwidth by the load are eliminated, and the outside displacement disturbance and eccentric disturbance are significantly rejected.

关 键 词：荒磨机 抗扰动 非线性跟踪微分器 建模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]