基于负载力补偿的自抗扰复合电液位置控制方法  

A Compound Control Strategy Combining Load Compensation with ADRC of Electro-hydraulic Position Control System

作　　者：高炳微[1] 邵俊鹏[1] 李建英[1] 季亚娟[1] 

机构地区：[1]哈尔滨理工大学机械动力工程学院,哈尔滨150080

出　　处：《农业机械学报》2014年第10期333-339,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家国际科技合作专项资助项目(2012DFR70840)

摘　　要：由于电液位置控制系统存在严重的非线性、内部参数的时变性以及外负载的干扰性,严重影响了系统静、动态控制效果。为此,提出了一种基于负载力补偿的自抗扰复合控制方法。给出了复合控制策略的工作原理;设计了自抗扰控制器,利用扩张状态观测器来观测和补偿系统内部参数和外部负载力的不确定性,从而有效地抑制了内部扰动和外部扰动对系统的影响;设计了负载力补偿控制器并导出负载力的补偿模型,进一步削弱了外负载变化对系统的不良影响,同时提高了系统的位置控制精度。通过Matlab仿真和半物理仿真平台分别进行了复合控制策略的验证。仿真及实验结果表明:自抗扰控制器有效地抑制了内外扰动的干扰,而负载力补偿控制器的引入使系统在抑制了外负载力摄动的同时实现了位置的精确定位控制,验证了所提控制策略的有效性。The electro-hydraulic position control system,which has the shortcomings of highly nonlinear,time-varying of the internal parameters and disturbance of the external load,seriously affects the static and dynamic control.In order to solve this problem,a compound control strategy combining load compensation with ADRC（auto disturbance rejection controller） was put forward,and the working principle of the composite control strategy was given in this paper.ADRC controller was designed,and the extended state observer was used for observing internal parameters uncertainties and external disturbances,so that the disturbance of the system is suppressed effectively.Load compensation controllerwas designed and the compensation model was derived.They further weakened the adverse effects on the system due to the changes in the external load,and improved the position control accuracy of the system.The composite control strategy was verified on the simulation in Matlab and semi-physical simulation platform,respectively.And the simulation and experimental results show that the electrohydraulic position control system with ADRC controller could effectively inhibit the interference of external disturbances,and the precise positioning control was realized after introducing the load compensation controller.And then the efficiency of the method presented was verified through simulations.

关 键 词：电液位置控制系统 负载力补偿 自抗扰控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP273.3[自动化与计算机技术—检测技术与自动化装置]