基于干扰观测器的液压位置伺服系统级联控制  

Cascade Control of Hydraulic Position Servo System Based on Disturbance Observer

作　　者：张兵[1] 饶俊森 汤少东 王志清 杜厚弈 邱龙涛 ZHANG Bing;RAO Jun-sen;TANG Shao-dong;WANG Zhi-qing;DU Hou-yi;QIU Long-tao(School of Mechanical Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013;Danfoss Power System Jiangsu Co.,Ltd.,Zhenjiang,Jiangsu 212002;Zhenjiang Key Laboratory of Fluid Power Transmission and Control,Zhenjiang,Jiangsu 212002)

机构地区：[1]江苏大学机械工程学院,江苏镇江212013 [2]丹佛斯动力系统(江苏)有限公司,江苏镇江212002 [3]镇江市流体传动与控制重点实验室,江苏镇江212002

出　　处：《液压与气动》2023年第3期51-59,共9页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51805215);江苏省前瞻与关键技术(BE2021074);镇江市创新能力建设计划(SS2021003)。

摘　　要：级联控制策略被应用于液压伺服系统位置控制,以提高系统输出响应性能。为了抑制液压伺服系统中各种不确定的非线性因素和外部干扰,提出了基于干扰观测器的终端滑模控制与非线性补偿相结合的级联控制策略,利用Lyapunov稳定性理论证明了位置闭环系统在有限时间内收敛。与渐近收敛控制器不同,级联控制器保证了系统状态误差和观测器估计误差在有限的时间收敛到0。利用MATLAB/Simulink对设计的控制器进行了仿真验证,结果验证了提出的控制器的理论可行性。为了模拟外界未知干扰,在液压伺服系统基础上加入阻尼可调减震器,以此开展实验研究。结果表明:提出的控制器有效抑制未知干扰影响,且提高了液压伺服系统的跟踪精度。Cascade control strategy is applied to the position control of hydraulic servo system to improve the output response performance of the system.In order to suppress various uncertain nonlinear factors and external disturbances in the hydraulic servo system,cascade control strategy based on disturbance observer and nonlinear compensation is proposed,the global stability of position closed-loop system is ensured by the Lyapunov theory.Unlike the from a symptotically convergent controller,the cascade controller ensures that the system state error and observer estimation error converge to zero in a finite time.The designed controller is simulated and verified by MATLAB/Simulink,the results verify the theoretical feasibility of the proposed controller.In order to simulate unknown external interference,add damping adjustable shock absorber on the basis of hydraulic servo system to carry out experimental research.Experimental results show that the proposed controller can effectively suppress the influence of unknown disturbances,and improves the tracking accuracy of the hydraulic servo system.

关 键 词：液压伺服系统 级联控制 干扰观测器 位置跟踪 

分 类 号：TH137[机械工程—机械制造及自动化]