基于双层CESO的电液伺服系统线性自抗扰控制  

Active Disturbance Rejection Control of Electro-Hydraulic Servo System Based on Two-Layer CESO

作　　者：贾雁 金坤善[1,2] 张井岗 李宇翔[1] 曹继贤 JIA Yan;JIN Kunshan;ZHANG Jinggang;LI Yuxiang;CAO Jixian(School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China;Shanxi Key Laboratory of Metallic Materials Forming Theory and Technology,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024 [2]太原科技大学,金属材料成形理论与技术山西省重点实验室,山西太原030024

出　　处：《机床与液压》2024年第15期178-184,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(52175057);太原科技大学博士科研启动基金项目(20202043);太原科技大学研究生教育改革项目(SY2022022);太原科技大学研究生教育创新项目(JG2022014)。

摘　　要：针对含高频噪声的阀控非对称缸不确定扰动抑制问题,采用扰动频率分层技术,利用线性扩张状态观测器低通滤波特性以及扰动估计速度和精度与带宽取值正相关性的特点,提出一种基于双层级联扩张状态观测器的阀控非对称缸电液伺服系统线性自抗扰方法。在分析双层级联线性扩张状态观测器稳定性基础上,与传统线性自抗扰控制方法进行了仿真对比研究。仿真结果表明:该控制方法继承了传统自抗扰控制优点,提高了不确定扰动估计速度和精度,有效抑制了含高频测量噪声不确定扰动带来的不利影响,可实现阀控非对称缸电液伺服系统的高性能控制。In order to suppress the uncertain disturbance of valve-controlled asymmetric cylinder with high frequency noise,a linear active disturbance rejection control method for valve-controlled asymmetric cylinder electro-hydraulic servo system based on two-layer cascade extended state observer was proposed.It was realized by the low-pass filter characteristics and the positive correlation between the estimated speed&accuracy and the bandwidth value of the linear extended state observer.On the basis of analyzing the stability of the two-layer cascade linear extended state observer,the comparison simulation with the traditional linear active disturbance rejection control method was carried out.The simulation results show that the proposed control method inherits the advantages of traditional active disturbance rejection control,the estimation speed and accuracy for uncertain disturbance are improved,the adverse effect of uncertain disturbance with high frequency measurement noise is effectively inhibited,and high performance control of valve-controlled asymmetrical cylinder electro-hydraulic servo system can be realized.

关 键 词：阀控非对称缸 电液伺服系统 线性自抗扰控制 级联扩张状态观测器 高频测量噪声 

分 类 号：TH137[机械工程—机械制造及自动化] TP23[自动化与计算机技术—检测技术与自动化装置]