基于电液力伺服系统的液压阀控缸自抗扰控制研究  

Research on Active Disturbance Rejection Control of Hydraulic Valve Controlled Cylinder with Electro Hydraulic Servo System

作　　者：黄文 HUANG Wen(Department of Electromechanical and Vehicle Engineering,Hope College,Southwest Jiaotong University,Chengdu 610400,China)

机构地区：[1]西南交通大学希望学院机电与车辆工程系,四川成都610400

出　　处：《液压气动与密封》2020年第9期13-16,20,共5页Hydraulics Pneumatics & Seals

基　　金：四川省教育厅专项科研项目(20JM1578)。

摘　　要：现有传统电液阀控缸系统非线性、抗扰动、鲁棒性差等特点,该文以液压阀控缸系统为研究对象,采用电液力伺服控制技术,提出了一种基于自抗扰(ADRC)的电液力伺服阀控缸伺服控制研究。首先,介绍传统非对称阀控缸系统组成和控制原理,建立其数学模型;然后设计电液阀控缸力控制算法原理,并设计了ADRC控制器;最后,以单个液压阀控非对称缸为实验对象,搭建实验平台,分别以阶跃信号、正弦信号、以及外界扰动信号对提出的算法进行了相关实验,实验结果验证了该文设计的基于自抗扰(ADRC)的电液力伺服阀控缸伺服控制算法的合理性和有效性,提高了系统控制精度和抗扰动能力。The traditional electro-hydraulic actuator system has the characteristics of nonlinearity,anti-disturbance and poor robustness.In this paper,taking the hydraulic valve control cylinder system as the research object,using the electro-hydraulic servo control technology,a research on the electro-hydraulic servo valve controlled cylinder servo control based on active disturbance rejection(ADRC)is proposed.Firstly,the composition and control principle of traditional asymmetric valve controlled cylinder system are introduced,and its mathematical model is established;secondly,the principle of electro-hydraulic valve controlled cylinder force control algorithm is designed,and the ADRC controller is designed.Finally,taking a single hydraulic valve controlled asymmetric cylinder as the experimental object,the experimental platform is built,and the proposed algorithm is tested with step signal,sinusoidal signal and external disturbance signal respectively.The experimental results verify the rationality and effectiveness of the servo control algorithm based on active disturbance rejection(ADRC)and improve the control accuracy and anti-disturbance ability of the system.

关 键 词：液压阀控缸 ADRC 伺服控制 抗扰动 

分 类 号：TH137[机械工程—机械制造及自动化] TP27[自动化与计算机技术—检测技术与自动化装置]