阀控非对称缸电液位置伺服系统的模糊自抗扰控制  

Fuzzy-ADRC for Valve-Controlled Asymmetrical Cylinder Electro-Hydraulic Position Servo System

作　　者：史孬 李跃松[1] 张贻哲 王棒 孟隆 SHI Nao;LI Yuesong;ZHANG Yizhe;WANG Bang;MENG Long(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang Henan 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《机床与液压》2025年第6期57-63,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51605145);河南省自然科学基金项目(232300420085)。

摘　　要：由于结构紧凑等优点,阀控非对称电液位置伺服系统被广泛应用,但是其非线性、时变性、参数多变和不确定性等特点造成外部扰动、负载突变、参数变化等工况,很难通过传统控制有效处理。针对此问题,提出阀控非对称电液位置伺服系统的模糊自抗扰控制(Fuzzy-ADRC),通过对外部扰动、负载突变、参数变化等内外扰动进行观测和补偿,来实现整个系统的高精度控制;通过模糊自整定来解决ADRC参数较多、相互耦合、整定困难的难题。最后对Fuzzy-PID、ADRC、Fuzzy-ADRC 3种算法控制的阀控非对称电液位置伺服系统进行对比。结果表明:Fuzzy-ADRC控制器相比ADRC控制器,当输入加载带扰动的阶跃信号时,调整时间缩短29.7%、误差减小50%,当输入加载的正弦信号时,相位滞后降低56%,精度提高41.3%,Fuzzy-ADRC具有参数调整简单、动态响应快、鲁棒性强等优点。Due to the advantages of compact structure,valve-controlled asymmetric electro-hydraulic position servo system is widely used,but its characteristics such as nonlinearity,time variability,parameter variability and uncertainty cause external disturbance,load mutation,parameter change and other conditions,it is difficult to effectively deal with through traditional control.To solve this problem,fuzzy active disturbance rejection control(Fuzzy-ADRC)was proposed for valve-controlled asymmetric electro-hydraulic position servo system.Through observing and compensating external disturbance,load mutation,parameter change and other internal and external disturbances,the high-precision control of the whole system could be realized.Fuzzy self-tuning was used to solve the ADRC problem with more parameters,mutual coupling and difficult tuning.Finally,the valve-controlled asymmetric electro-hydraulic position servo system controlled by Fuzzy-PID,ADRC and Fuzzy-ADRC algorithms were compared.The results show that Fuzzy-ADRC controller compared with the ADRC controller,when inputting step signal with load and disturbance,the adjustment time is shortened by 29.7%,the error is reduced by 50%,when inputting sinusoidal signal with load,the phase lag is reduced by 56%,the accuracy is increased by 41.3%.The Fuzzy-ADRC has advantages such as simple parameter adjustment,fast dynamic response,strong robustness and so on.

关 键 词：电液位置伺服系统 模糊自抗扰控制(Fuzzy-ADRC) 阀控非对称缸 

分 类 号：TH137[机械工程—机械制造及自动化]