机电伺服系统改进级联ADRC控制方法  

An improved cascaded ADRC control method for the electromechanical servo system

作　　者：史训方 陈安平[1] 张芳[1] 侯鹏飞 董欣宇 成兆义[1] SHI Xunfang;CHEN Anping;ZHANG Fang;HOU Pengfei;DONG Xinyu;CHENG Zhaoyi(Beijing Research Institute of Precise Mechanical and Electronic Control Equipment,Beijing 100076,China)

机构地区：[1]北京精密机电控制设备研究所,北京100076

出　　处：《重庆理工大学学报（自然科学）》2023年第5期283-290,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：航天伺服驱动与传动技术实验室开放基金项目(LASAT-20210502)。

摘　　要：针对航天机电伺服系统由于负载特性变化导致传统PID控制效果下降的问题,将自抗扰控制(ADRC)方法应用于航天伺服系统。根据航天伺服机构特点建立数学模型,针对伺服系统串级系统的特性,提出了一种改进的级联ADRC控制方法。通过3个扩张状态观测器分别估计补偿3个子系统的未知干扰,降低了系统的复杂程度,有效提高了系统电流环和转速环的系统控制性能。仿真结果表明,相较于常规的位置环ADRC控制方法,级联ADRC控制方法一定程度上降低了参数整定的难度,还能有效提升系统的抗干扰能力和系统的控制性能。Aiming at the problem that the conventional PID control effect of the aerospace electromechanical servo system decreases due to the change of load characteristics,this paper applies active disturbance rejection control(ADRC)to the aerospace electromechanical servo system.A mathematical model is established according to the characteristics of the aerospace servomechanism.an improved cascaded ADRC control method is proposed for the characteristics of the servo cascade system.The unknown interference of the three subsystems is estimated and compensated by three extended state observers,which reduces the complexity of the system and effectively improves the system control performance of the current loop and the speed loop.The simulation results show that,compared with the conventional position loop ADRC control method,the cascaded ADRC control method not only reduces the difficulty of parameter setting to a certain extent,but also effectively improves the anti-jamming ability and the control performance of the system.

关 键 词：航天机电伺服系统 扰动抑制 级联ADRC 机电作动器 

分 类 号：V448[航空宇航科学与技术—飞行器设计]