基于极值搜索的阀控对称缸线性自抗扰控制  

Linear Active Disturbance Rejection Control for Valve-Controlled Symmetrical Cylinder Based on Extremum-Seeking Algorithm

作　　者：金坤善[1,2] 李宇翔 梁涛 王鲁军 展保同 曹继贤 JIN Kunshan;LI Yuxiang;LIANG Tao;WANG Lujun;ZHAN Baotong;CAO Jixian(College of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China;Shanxi Key Laboratory of Metallic Materials Forming Theory and Technology,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China;Taian Hualu Forging Machine Co.,Ltd.,Taian Shandong 271000,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024 [2]太原科技大学,金属材料成形理论与技术山西省重点实验室,山西太原030024 [3]泰安华鲁锻压机床有限公司,山东泰安271000

出　　处：《机床与液压》2025年第7期51-57,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(52175057);太原科技大学研究生教育改革项目(JG2022022);太原科技大学研究生教育创新项目(SY2023014)。

摘　　要：针对传统线性自抗扰控制器难以满足非线性、不确定性电液伺服控制系统高性能控制要求的问题,提出一种基于极值搜索的阀控对称缸电液伺服系统线性(LADRC)自抗扰控制方法。该方法融合了线性自抗扰控制不依赖系统精确数学模型和极值搜索算法多参数并行优化能力的优点,将控制器参数优化问题转换为目标函数的极值搜索问题。在分析优化过程收敛性的基础上,完成了LADRC参数的优化,并进行控制仿真研究。该方法继承了传统LADRC对不确定扰动的实时估计和动态补偿机制,同时具备动态调整扩张状态观测器带宽和状态反馈控制器增益的能力,可实现对系统的高性能控制。结果表明:该方法能够有效抑制电液伺服系统中多源不确定扰动,减小动态跟踪误差,缩短过渡过程,提升控制品质,为非线性、不确定性电液伺服系统的高性能控制提供了一种有效的解决方案。To address the problem that traditional linear active disturbance rejection controllers struggle to meet the high-performance control requirements of nonlinear and uncertain electro-hydraulic servo control systems,a linear active disturbance rejection control(LADRC)method based on extremum-seeking for a valve-controlled symmetric cylinder electro-hydraulic servo system was proposed.This method combined the advantages of model-independent characteristics of LADRC and the multi-parameter parallel optimization ability of the extremum search algorithm,the controller parameter optimization problem was transformed into an extremum search problem of objective functions.Based on the analysis of the convergence of the optimization process,the LADRC parameters were optimized,and control simulation studies were conducted.The traditional LADRC real-time estimation and dynamic compensation mechanism of uncertain disturbances were inherited by this method,and it could dynamically adjust the bandwidth of the extended state observer and the gain of the state feedback controller,enabling high-performance control of the system.The results show that this method can effectively suppress multi-source uncertain disturbances in the electro-hydraulic servo system,reduce dynamic tracking errors,shorten the transition process,and improve control quality,providing an effective solution for high-performance control of nonlinear and uncertain electro-hydraulic servo systems.

关 键 词：极值搜索 阀控对称缸 自抗扰控制 

分 类 号：TH137[机械工程—机械制造及自动化]