三阶线性自抗扰控制器的液压伺服流量控制  

Hydraulic Servo Flow Control Based on Third Order LADRC

作　　者：赵爽[1] 史红伟[1] 刘小松[1] 李鹏程 左越 ZHAO Shuang;SHI Hong-wei;LIU Xiao-song;LI Peng-cheng;ZUO Yue(School of Electronic and Information Engineering,Changchun University of Science and Technology,Changchun,Jilin 130022;West Suburb Sewage Treatment Plant of Changchun Water Group Urban Drainage Co.,Ltd.,Changchun,Jilin 130022)

机构地区：[1]长春理工大学电子信息工程学院,吉林长春130022 [2]长春水务集团城市排水有限公司西郊污水处理厂,吉林长春130022

出　　处：《液压与气动》2021年第5期149-156,共8页Chinese Hydraulics & Pneumatics

基　　金：吉林教育厅科学技术项目(JJKH20190591KJ)。

摘　　要：针对阀控液压马达系统受非线性复杂扰动导致流量输出不稳定的问题,提出一种基于三阶线性自抗扰控制器(LADRC)的液压伺服流量控制方法。基于高阶LADRC理论,提出将ADRC应用于非线性的液压伺服系统控制,分析并验证了跟踪微分器的跟踪误差前馈增益具有抑制系统超调的作用。采用跟踪误差前馈与扩张状态观测器扰动反馈相分离的办法,提出一种针对复杂非线性三阶被控系统的改进的三阶LADRC算法。最后验证了该算法对一类大范围复杂不确定性液压伺服系统具有较PID更强的扰动抑制能力。Focuses on the application of third order linear active disturbance rejection controller(LADRC)in hydraulic servo flow control to restrain the flow output instability caused by nonlinear factors of the system.First,based on the theory of high order LADRC,it is used to control hydraulic servo system.Analysis and verifies the feed-forward gain of tracking error can restrain the overshoot.Then,tracking error feedforward from the disturbance feedback of the extended state observer is separated,and an improved third-order LADRC algorithm is proposed for complex nonlinear third order controlled systems.Finally,the results show that the algorithm has stronger disturbance suppression ability than PID for a class of large scale complex uncertain hydraulic servo system.

关 键 词：液压伺服 流量控制 高阶线性自抗扰 干扰抑制 

分 类 号：TH137[机械工程—机械制造及自动化] TM571[电气工程—电器]