摘要
为提高阀控单出杆缸电液伺服系统性能,在构建阀控单出杆缸电液伺服系统动态机理模型基础上,提出了一种具有加速度前馈的二阶线性自抗扰控制(Linear Active Disturbance Rejection Control,LADRC)方法,采用奇异摄动理论分析了闭环系统稳定性,并针对系统响应性能和抗干扰性能与传统PID控制进行仿真和实验对比。结果表明:具有加速度前馈的LADRC对系统中存在的多源不确定扰动具有较强鲁棒性,能有效提高系统动、静态性能,并实现对给定信号的快速、精确轨迹跟踪。
In order to improve the performance of the valve-controlled single-rod cylinders electro-hydraulic servo system,on the construction of the dynamic mechanism model of the system,the second-order linear active disturbance rejection control with acceleration feed-forward is proposed.The system stability is analyzed based on the singular perturbation theory.And the response and anti-interference performance are compared by simulation and experiment,with traditional PID control.The results show that the proposed control strategy has strong robustness to the multi-source uncertain disturbance in the system,can effectively improve the dynamic and static performance of the system,and achieve the fast and accurate tracking for the given signal.
作者
金坤善
宋建丽
梁涛
李永堂
仉志强
JIN Kun-shan;SONG Jian-li;LIANG Tao;LI Yong-tang;ZHANG Zhi-qiang(Shanxi Key Laboratory of Metallic Materials Forming Theory and Technology, Taiyuan University of Science and Technology, Taiyuan, Shanxi 030024;College of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, Shanxi 030024;School of Instrument Science and Opto-electronics Engineering, Beijing Information Science and Technology University, Beijing 100192;Tai'an Hualu Forging Machine Co. , Ltd. , Tai'an, Shandong 271000)
出处
《液压与气动》
北大核心
2021年第3期25-32,共8页
Chinese Hydraulics & Pneumatics
基金
国家重点研发计划(2018YFA0707305)
高性能复杂制造国家重点实验室开放课题基金(KFKT2018-13)
山西省科技重大专项(20191102009)
太原科技大学博士启动基金(20202043)。
关键词
阀控单出杆缸
电液伺服系统
线性自抗扰控制
线性扩张状态观测器
valve-controlled single-rod cylinder
electro-hydraulic servo system
linear active disturbance rejection control
linear extended state observer
作者简介
金坤善(1978—),男,湖北随州人,讲师,博士,主要研究方向为锻压设备及其先进控制技术。
