电液伺服系统的扩展自耦PD控制  

Auto-coupling PID control of electro-hydraulic servo system

作　　者：张国林 曾喆昭[1,2] 黄利容 ZHANG Guolin;ZENG Zhezhao;HUANG Lirong(College of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China;Hunan Zhezhao Automation Control Technology Co.,Ltd.,Changsha 410000,China)

机构地区：[1]长沙理工大学电气与信息工程学院,长沙410114 [2]湖南喆昭自动化控制技术有限公司,长沙410000

出　　处：《兵器装备工程学报》2024年第10期287-294,共8页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61040049);湖南省教育厅重点项目(21A0183);长沙理工大学研究生科研创新项目(CSLGCX23060)。

摘　　要：针对具有高度非线性和参数不确定性的3阶电液伺服系统,基于自耦PID控制理论提出了一种扩展自耦PD控制方法。通过将电液伺服系统内部动态与外部不确定因素定义为总扰动,使3阶非线性系统等价映射为3阶线性扰动系统,形成一个在总扰动激励下的受控误差系统,并以自适应速度因子为基础设计了扩展自耦PD控制器,理论分析了扩展自耦PD闭环控制系统具有良好的鲁棒稳定性和抗扰动鲁棒性。仿真实验表明:该控制方法不仅动态响应速度快,且稳态控制精度高,因此在电液伺服系统领域具有良好的实际应用前景。For the third order electro-hydraulic servo system with high nonlinear and parameter uncertainty,an Extended Auto-Coupling PD control method based on the Auto-Coupling PID control theory is proposed.By defining the internal dynamics and external uncertainties of the electro-hydraulic servo system as total disturbances,the third-order nonlinear system is equivalently mapped to a third-order linear disturbance system,forming a controlled error system under total disturbance excitation.Based on the adaptive speed factor,an extended Auto-Coupling PD controller is designed,and theoretical analysis shows that the extended Auto-Coupling PD closed-loop control system has good robust stability and disturbance resistance robustness.The simulation results show that the proposed control method not only has high dynamic response speed,but also high steady-state control precision,so it has a good practical application prospect in the field of electro-hydraulic servo system.

关 键 词：电液伺服 扩展自耦PD 3阶非线性系统 总扰动 自适应速度因子 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程] TP273[自动化与计算机技术—检测技术与自动化装置]