电液比例伺服力加载自抗扰控制

doi:10.3901/JME.2020.18.216

机械工程学报 ›› 2020, Vol. 56 ›› Issue (18): 216-225.doi: 10.3901/JME.2020.18.216

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电液比例伺服力加载自抗扰控制

王立新¹, 赵丁选¹, 刘福才², 孟凡亮¹, 刘谦¹

1. 燕山大学机械工程学院秦皇岛 066004;
2. 燕山大学工业计算机控制工程河北省重点实验室秦皇岛 066004

收稿日期:2019-12-03 修回日期:2020-07-29 出版日期:2020-09-20 发布日期:2020-11-17
通讯作者: 赵丁选(通信作者),男,1965年出生,教授,博士研究生导师。主要研究方向为工程机器人、复杂机械系统动力学与仿真、汽车悬挂技术等。E-mail:zdx@ysu.edu.cn
作者简介:王立新,男,1988年出生,博士。主要研究方向为自抗扰控制、电液伺服控制技术、工程机器人控制技术等。E-mail:wlx@stumail.ysu.edu.cn;刘福才,男,1966年出生,教授,博士研究生导师。主要研究方向为模糊辨识与控制、空间机器人控制技术等。E-mail:lfc@ysu.edu.cn
基金资助:
国家重点研发计划资助项目（2016YFC0802902）。

Active Disturbance Rejection Control for Electro-hydraulic Proportional Servo Force Loading

WANG Lixin¹, ZHAO Dingxuan¹, LIU Fucai², MENG Fanliang¹, LIU Qian¹

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004

Received:2019-12-03 Revised:2020-07-29 Online:2020-09-20 Published:2020-11-17

摘要/Abstract

摘要： 针对电液比例加载系统中力控制精度较低这一问题，提出一种由死区逆补偿与线性自抗扰器构成的串联控制器。所设计的串联控制器充分考虑了比例阀死区非线性、液压参数摄动、外部未知扰动等因素。首先，在分析电液比例力加载系统模型机理基础上，根据系统相对阶次，设计二阶线性自抗扰控制器，通过扩张状态观测器对系统"总扰动"进行实时估计，并采用线性误差反馈控制律给予主动补偿。此外，为解决比例阀死区引起的系统响应滞后与稳态误差过大等问题，建立光滑死区逆模型，以消除死区带来的不利影响。大量对比试验表明，提出的串联控制器有效地改善了系统动静特性，可达到更高的力控制精度，具有较强的鲁棒性和抗干扰性，为工程应用提供了参考。

关键词: 电液比例加载系统, 力控制, 自抗扰控制, 死区逆补偿

Abstract: To solve the problem of rough force control precision in electro-hydraulic proportional loading system, a cascade controller consisting of a dead-zone inverse compensation and a linear active disturbance rejection controller(LADRC) is proposed. Various disadvantages in the force control system are taken into account, including the non-linearity of the proportional valve dead-zone, hydraulic parameter perturbation, unknown external disturbances and so on. Based on the analysis of the mechanism of the electro-hydraulic proportional force loading system model, a second-order LADRC is designed, according to the relative order of the system. The "generalized disturbances" are estimated by a linear extended state observer (LESO) and compensated by a linear state error feedback control law(LSEF). In addition, the dead-zone inverse model is constructed to deal with the system output lag problem caused by the proportional valve dead-zone. The extensive comparative experiments show that the proposed approach improves the dynamic and static characteristics of the electro-hydraulic proportional loading system, achieves higher accuracy of force control, and possesses strong robustness and anti-interference, provides reference for engineering application.

Key words: electro-hydraulic proportional loading system, force control, active disturbance rejection control, dead-zone inverse compensation

中图分类号:

TP237

王立新, 赵丁选, 刘福才, 孟凡亮, 刘谦. 电液比例伺服力加载自抗扰控制[J]. 机械工程学报, 2020, 56(18): 216-225.

WANG Lixin, ZHAO Dingxuan, LIU Fucai, MENG Fanliang, LIU Qian. Active Disturbance Rejection Control for Electro-hydraulic Proportional Servo Force Loading[J]. Journal of Mechanical Engineering, 2020, 56(18): 216-225.

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电液比例伺服力加载自抗扰控制

Active Disturbance Rejection Control for Electro-hydraulic Proportional Servo Force Loading

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