基于自抗扰控制技术的起重机位置控制系统研究  

Crane position control system based on active disturbance rejection control technology

作　　者：岳路宏 杨敬 YUE Lu-hong;YANG Jing(School of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024

出　　处：《机电工程》2023年第6期910-918,共9页Journal of Mechanical & Electrical Engineering

基　　金：国家重点研发计划项目(2018YFB2001203);山西省基础研究项目(20210302123200)。

摘　　要：在起重机的起吊工作过程中,由于起吊重物的摆动、变幅臂弹性变形等因素引起的未知负载干扰,会导致起重机的位置控制系统稳定性降低。针对这一问题,提出了一种基于自抗扰控制算法的泵阀协同位置控制系统。首先,介绍了液压起重机泵阀协同位置控制系统的组成和原理,建立了系统的数学模型,提出了变幅机构的位置控制策略和具体的控制方法,并设计了一种自抗扰控制器;然后,建立了起重机变幅系统位置控制系统的元件仿真模型,并进行了元件试验,对仿真模型的准确性进行了验证;最后,建立了AMESim和MATLAB联合仿真模型,对自抗扰控制器的位置控制性能和系统稳定性进行了研究。研究结果表明:与传统的PID控制器相比,所设计的自抗扰控制器(基于自抗扰控制算法的泵阀协同位置控制系统)对S型曲线位置跟踪误差减小了1.2 mm;同时,所设计的自抗扰控制器比传统的PID控制器具有更高的稳定性。Aiming at the problem of low stability of the crane position control system caused by the disturbance of unknown loads caused by the swing of lifting weight,the elastic deformation of the luffing arm and the other factors,a pump valve coordinated position control system of hydraulic crane based on active disturbance rejection control(ADRC)algorithm was proposed.Firstly,the composition and principle of the pump valve coordinated position control system of hydraulic crane were expounded,and the mathematical model of the pump-valve coordinated position control system was established.The position control strategy and specific control method of the luffing mechanism were proposed,and the ADRC was designed.Then,the components of the simulation model of the position control system of the crane luffing system was established,and the components of the simulation model were tested to verify the accuracy of the simulation model.Finally,the co-simulation model of AMESim and MATLAB was established,and the position control performance and system stability of ADRC were studied.The research results show that compared with the proportion integration differentiation(PID)controller,the designed ADRC reduces the maximum position tracking error of the S-shaped displacement curve by 1.2 mm and the designed ADRC has higher stability than PID controller.

关 键 词：汽车起重机 自抗扰控制 泵阀协同位置控制 位置闭环控制 压力闭环控制 PID控制器 

分 类 号：TH213[机械工程—机械制造及自动化] TH137.5