基于改进的非线性自抗扰算法的电液伺服力加载控制  

Electro-hydraulic servo force loading control based on improved nonlinear active disturbance rejection control

作　　者：李晓远 谷立臣[1] 耿宝龙 程冬宏 张奔奔 LI Xiaoyuan;GU Lichen;GENG Baolong;CHENG Donghong;ZHANG Benben(School of Mechanical and Electrical Engineering,Xi’an University of Architecture and Technology,Xi’an 710055,China)

机构地区：[1]西安建筑科技大学机电工程学院,陕西西安710055

出　　处：《Journal of Measurement Science and Instrumentation》2023年第4期442-451,共10页测试科学与仪器（英文版）

基　　金：National Natural Science Foundation of China(No.51675399)。

摘　　要：针对起落架作动筒磨合与寿命实验台阀控缸力加载系统瞬态和动态加载精度较低,不能满足载荷谱精度要求从而影响作动筒安全性与可靠性判断的问题,从控制算法出发,提出一种具有更高精度及抗干扰能力的改进非线性自抗扰控制算法(Improved nonlinear active disturbance rejection control,INADRC)。首先,建立电液伺服力加载系统AMESim/Simulink联合仿真模型。其次,设计INADRC控制器并使用遗传粒子群算法对其参数寻优。最后,通过对3种目标跟踪信号仿真和实验来验证控制器性能。仿真及实验结果表明,改进非线性自抗扰控制相比于PID控制、非线性自抗扰控制和其他改进非线性自抗扰控制,平均精度分别提升了4.15%,1.15%和0.65%,体现出伺服力瞬态和动态加载精度高、抗干扰能力强的特点。The transient and dynamic loading accuracy of the valve controlled cylinder force loading system of the undercarriage actuator cylinder wear and life experiment platform is low,which cannot meet the accuracy requirements of the load spectrum,thus affecting the safety and reliability judgment of the actuator.An improved nonlinear active disturbance rejection control(INADRC)algorithm with higher accuracy and anti-interference ability is proposed based on control algorithm.First,the AMESim/Simulink co-simulation model of the electro-hydraulic servo force loading system is established.Secondly,in order to optimize its parameters,the INADRC controller is designed,and the genetic particle swarm algorithm is used.Finally,the performance of the controller is verified by simulating and experiment with three target signal tracking.The simulation and experimental results show that compared with PID control,nonlinear ADRC(NADRC)and other improved nonlinear ADRC(ONADRC),the average accuracy of the INADRC is improved by 4.15%,1.15%and 0.65%,which reflects the characteristics of high servo force transient,dynamic loading accuracy and strong anti-interference ability.

关 键 词：起落架作动筒 阀控缸系统 非线性自抗扰 遗传粒子群算法 电液伺服力加载控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]