基于参考模型的电液伺服位置跟踪控制  

Electro hydraulic servo position tracking control based on reference model

作　　者：刘梅桢 王立新 刘福才[1,2] LIU Meizhen;WANG Lixin;LIU Fucai(Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment,Yanshan University,Qinhuangdao 066004;Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学智能控制系统与智能装备教育部工程研究中心,秦皇岛066004 [2]燕山大学河北省工业计算机控制工程重点实验室,秦皇岛066004 [3]燕山大学机械工程学院,秦皇岛066004

出　　处：《高技术通讯》2024年第5期515-524,共10页Chinese High Technology Letters

基　　金：载人航天领域预研(2016040301);国家自然科学基金联合基金(U22A2050);河北省自然科学基金(F2022203043);省级重点实验室绩效补助经费(22567612H)资助项目。

摘　　要：针对电液伺服系统中存在的参数不确定性与未知外部扰动等问题,提出一种基于参考模型的电液伺服位置跟踪控制方法。首先根据电液伺服系统的非线性方程建立了系统的状态空间模型,据此构建由理想参考模型和总扰动组成的控制系统结构;然后结合电液伺服系统状态空间模型分别设计理想参考模型和扰动观测器,实现参考模型输出可以精确跟踪给定输入信号和对系统总扰动的观测;最后设计控制律实现对总扰动的有效补偿和实际系统的输出对参考模型输出的精确跟踪。仿真与实验结果表明,基于参考模型的扰动观测器在电液伺服位置跟踪控制方面相比比例积分微分(PID)控制,可以有效地提高系统控制精度并减小系统动态控制误差,实现对给定输入信号准确的跟踪。Aiming at the problems of parameter uncertainty and unknown external disturbance in electro-hydraulic servo system,an electro-hydraulic servo position tracking control method based on reference model is proposed.Firstly,according to the nonlinear equation of electro-hydraulic servo system,the state space model of the system is estab-lished,and the control system structure composed of ideal reference model and total disturbance is constructed.Then,combined with the state space model of electro-hydraulic servo system,the ideal reference model and dis-turbance observer are designed respectively to realize the output of the reference model,which can accurately track the given input signal and observe the total disturbance of the system.Finally,the control law is designed to effec-tively compensate the total disturbance and accurately track the output of the actual system to the output of the refer-ence model.The simulation and experimental results show that,compared with the traditional proportional-integral-derivative(PID)control method,the reference model based disturbance observer can effectively improve the sys-tem control accuracy and reduce the system dynamic control error,and can realize the accurate tracking of the given input signal.

关 键 词：电液伺服系统 跟踪控制 扰动观测器 参考模型 

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]