基于自抗扰控制的双气缸位置同步控制研究  

Research on Dual-Cylinder Position Synchronization Control Based on Active Disturbance Rejection Control

作　　者：廉超杰 孙春耕[1] 肖云 LIAN Chaojie;SUN Chungeng;XIAO Yun(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming Yunnan 650500,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《机床与液压》2025年第6期96-104,共9页Machine Tool & Hydraulics

基　　金：云南省重大科技专项计划项目(202202AC080008)。

摘　　要：为了实现双气缸位置同步控制系统精确的运动轨迹跟踪与同步控制,针对系统模型不确定性和外部干扰等问题,设计一种基于交叉耦合方法的自抗扰同步控制策略。该控制器由单缸自抗扰位置控制器与自抗扰同步控制器组成。建立气动位置伺服系统数学模型,在此基础上,为了提高单缸运动轨迹跟踪精度,设计三阶非线性自抗扰位置控制器,实现对系统内外扰动的实时估计与主动补偿;同时为了提高双缸同步精度,设计交叉耦合自抗扰同步控制器,对两侧子系统误差进行观测并给予补偿。利用AMESim与Simulink软件搭建双气缸位置同步控制系统联合仿真模型,并进行仿真验证。结果表明:采用基于交叉耦合方法的自抗扰同步控制策略对气动同步系统的动态特性和非线性特性的变化具有较强的鲁棒性,能够有效地提高系统运动轨迹跟踪能力和抗干扰能力,减小系统的同步误差。In order to achieve precise motion trajectory tracking and synchronization control for a dual-cylinder position synchronization system,an active disturbance rejection control(ADRC)synchronization control strategy based on cross-coupling methods was designed to address uncertainties in the system model and external disturbances.The controller consisted of ADRC single-cylinder position controllers and ADRC synchronization controllers.Initially,a mathematical model of the pneumatic position servo system was formulated.Then,in order to enhance the trajectory tracking accuracy of a single cylinder,a third-order nonlinear ADRC position controller was designed to estimate and actively compensate for disturbances both internally and externally in real-time.Simultaneously,in order to improve dual-cylinder synchronization accuracy,a cross-coupling ADRC disturbance rejection synchronization controller was designed to observe and compensate for errors in both subsystems.A joint simulation model of the dual-cylinder position synchronization control system was built using AMESim and Simulink software,followed by simulation verification.The results show that the ADRC synchronization control strategy based on cross-coupling demonstrates strong robustness to variations in the dynamic and nonlinear characteristics of the pneumatic synchronization system.It effectively enhances the motion trajectory tracking capability and disturbance rejection ability of system,thereby reducing synchronization errors in the system.

关 键 词：气动伺服系统 同步控制 交叉耦合 自抗扰控制 

分 类 号：TH138.1[机械工程—机械制造及自动化]