电液位置伺服系统自抗扰控制研究  

Active Disturbance Rejection Control of Electro-hydraulic Position Servo System

作　　者：司国雷 神英淇 王嘉磊 曹太强 万敏 SI Guo-lei;SHEN Ying-qi;WANG Jia-lei;CAO Tai-qiang;WAN Min(Sichuan Aerospace Fenghuo Servo Control Technology Co.,Ltd.,Chengdu,Sichuan 611130;School of Electrical and Electronic Information,Xihua University,Chengdu,Sichuan 610039;School of Science,Xihua University,Chengdu,Sichuan 610039)

机构地区：[1]四川航天烽火伺服控制技术有限公司,四川成都611130 [2]西华大学电气与电子信息学院,四川成都610039 [3]西华大学理学院,四川成都610039

出　　处：《液压与气动》2020年第12期14-21,共8页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2019YFB2005100);西华大学研究生创新基金(ycjj2020054)。

摘　　要：由于电液位置伺服系统中存在不易获得精确数学模型、参数摄动以及外部未知扰动等问题,采用了一种改进自抗扰控制方案,充分利用系统已知信息,将系统位置误差作为控制器输入,以减小因扩张状态观测器产生的相位滞后,进而提高系统响应速度。同时对系统位置误差进行观测并予以补偿,并将系统高阶项以及未知扰动视为总扰动,以简化控制器结构,最后采用MATLAB与AMESim进行联合仿真。结果表明,所设计的一阶非线性自抗扰控制器能够实现系统的快速响应及精度控制,相较于改进前,响应速度提升47.62%,跟踪误差降低44.44%,与PID控制相比,响应速度提升了60%,跟踪误差降低了58.34%,对未知扰动等因素有良好的抑制能力,拥有更优良的控制品质和鲁棒性。Due to the difficulty of obtaining accurate mathematical models,parameter perturbation and unknown external disturbances in the electro-hydraulic position servo system,an improved active disturbance rejection control scheme is adopted to make full use of the known information of the system,and the system position error is used as the controller Input to reduce the phase lag caused by the expanded state observer,thereby increasing the system response speed.At the same time,the system position error is observed and compensated,and the system's high-order terms and unknown disturbances are regarded as total disturbances to simplify the controller structure.Finally,MATLAB and AMESim are used for joint simulation.The results show that the designed first-order nonlinear active disturbance rejection controller can achieve rapid response and precision control of the system.Compared with the improvement before,the response speed is increased by 47.62%and the tracking error is reduced by 44.44%.Compared with PID control,the response speed is increased by 60%,the tracking error is reduced by 58.34%,and it has a good suppression ability against unknown disturbances and other factors,and has better control quality and robustness.

关 键 词：电液位置伺服系统 自抗扰控制 位置误差 扩张状态观测器 

分 类 号：TH137[机械工程—机械制造及自动化]