掘进装备臂架关节驱动电液系统自适应抗扰降阶控制  

Adaptive Disturbance Rejection Reduced-Order Control for Electro-Hydraulic System of Excavation Equipment Boom Joint

作　　者：梁浩 张德义 牛雪梅 谢兵 LIANG Hao;ZHANG Deyi;NIU Xuemei;XIE Bing(School of Mechanical Engineering,Suzhou University of Science and Technology,Suzhou Jiangsu 215000,China;Tiandi(Changzhou)Automation Co.,Ltd.,Changzhou Jiangsu 213000,China)

机构地区：[1]苏州科技大学机械工程学院,江苏苏州215000 [2]天地(常州)自动化股份有限公司,江苏常州213000

出　　处：《机床与液压》2024年第22期174-179,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(52304147);江苏省高等学校基础科学研究面上项目(23KJB440002);苏州市科技计划(基础研究)项目(SJC2023002)。

摘　　要：针对掘进装备臂架关节驱动电液系统的非线性特性、参数不确定性、外部扰动大等问题,提出了一种基于降阶模型的自适应抗扰控制方法。通过对系统进行降阶处理,结合滑模自适应控制器和线性扩展状态观测器,将线性扩张状态观测器观测信息视为反馈信息直接使用,同时观测扰动来补偿剩余的不确定性,提高了鲁棒性和跟踪性能。自适应抗扰降阶控制器不依赖关节驱动系统参数,仅需知道系统输出位移,可有效降低控制参数的数量。结果表明:自适应抗扰降阶控制器不仅可以实现关节驱动系统位置输出的高精度控制,还可有效观测系统的输出状态及扰动,对参数变化具有更强的鲁棒性。In response to the challenges posed by nonlinear characteristics,parameter uncertainty,and significant external disturbances in the boom joint driving electro-hydraulic system of excavation equipment,an adaptive disturbance rejection control method was introduced based on a reduced-order model.The order of the system was reduced,and then the sliding mode adaptive controller was combined with the linear extended state observer.The observation information of the linear extended state observer was directly used as feedback information,and the disturbance was observed to compensate the remaining uncertainty,the robustness and tracking performance were improved.The adaptive disturbance rejection reduced-order controller was independent of the parameters of the joint driving system and solely relies on the system′s output displacement,thereby the required number of control parameters were effectively minimized.The results show that the adaptive disturbance rejection reduced-order controller can not only realize the high-precision control of the position output of the joint driving system,but also can effectively observe the output state velocity and disturbance of the system,and has stronger robustness to parameter changes.

关 键 词：电液系统 降阶模型 状态观测器 自适应抗扰控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]