基于滑模自抗扰的转角加载系统非线性补偿  

Nonlinear Compensation of Angle Loading System Based on Sliding Mode Active Disturbance Rejection

作　　者：王静 齐智斌 WANG Jing;QI Zhi-bin(Jiangsu XCMG Construction Machinery Research Institute Co.,Ltd.,Xuzhou Jiangsu 221004,China;School of Mechanical Engineering,Dalian University of Technology,Dalian Liaoning 116024,China)

机构地区：[1]江苏徐工工程机械研究院有限公司,江苏徐州221004 [2]大连理工大学机械工程学院,辽宁大连116024

出　　处：《机电产品开发与创新》2025年第2期88-92,共5页Development & Innovation of Machinery & Electrical Products

摘　　要：电动伺服转角加载系统不可避免的存在非线性间隙、摩擦等扰动,严重影响了系统的转角加载性能。本文围绕转角加载系统中的非线性扰动问题,提出了一种基于滑模自抗扰控制算法的全闭环复合控制策略。首先基于PMSM位移环建立了全闭环的转角加载传递函数模型;其次设计了自抗扰控制算法抑制了系统的非线性扰动;最后针对扩张状态观测带宽过大导致放大系统噪声的问题,设计了滑模自抗扰控制器进一步提高系统加载精度。根据仿真结果表明:相比于自抗扰控制器,本文提出的滑模自抗扰控制器快速性提升了12.5%,稳态误差降低了27.3%。The electric servo angular loading system inevitably has nonlinear clearance,friction and other disturbances,which seriously affect the angular loading performance of the system.This paper focuses on the nonlinear disturbance problem in the corner loading system,and proposes a full closed-loop composite control strategy based on sliding mode active disturbance rejection control algorithm.Firstly,a full closed-loop angle loading transfer function model is established based on the PMSM displacement loop.Secondly,an active disturbance rejection control algorithm is designed to suppress the nonlinear disturbance of the system.Finally,a sliding mode active disturbance rejection controller is designed to further improve the loading accuracy of the system for the problem that the expansion state observation bandwidth is too large to amplify the system noise.According to the simulation results,compared with the auto-disturbance rejection controller,the rapidity of the sliding mode auto-disturbance rejection controller proposed in this paper is improved by 12.5%,and the steady-state error is reduced by 27.3%.

关 键 词：转角加载系统 非线性扰动 扩张状态观测器 滑模自抗扰 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]