• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (12): 225-232.doi: 10.3901/JME.2018.12.225

• 交叉与前沿 • 上一篇    

线性/非线性自抗扰切换控制在变载荷气动加载系统中的应用

刘福才, 王立新, 贾晓菁, 米巨香   

  1. 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:2017-04-21 修回日期:2017-10-25 出版日期:2018-06-20 发布日期:2018-06-20
  • 通讯作者: 刘福才(通信作者),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预测控制、空间机器人控制技术等。E-mail:lfc@ysu.edu.cn
  • 作者简介:王立新,男,1988年出生,博士研究生。主要研究方向为智能控制、工程机器人技术等。E-mail:15603397236@163.com
  • 基金资助:
    国家高技术研究发展计划(863计划,2012AA)和河北省自然科学基金(F2015203362)资助项目。

Application of Linear/Nonlinear Active Disturbance Rejection Switching Control in Variable Load Pneumatic Loading System

LIU Fucai, WANG Lixin, JIA Xiaojing, MI Juxiang   

  1. Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004
  • Received:2017-04-21 Revised:2017-10-25 Online:2018-06-20 Published:2018-06-20

摘要: 针对气动加载系统压力跟踪控制中强非线性、强耦合性、模型不精确性等问题,提出一种线性/非线性自抗扰切换控制器,该控制器结合了线性自抗扰控制器参数整定简便、理论分析简单和非线性自抗扰控制器跟踪精度高、响应快的优点,设计线性/非线性切换扩张状态观测器对系统的耦合项以及不同幅值的扰动等不确定项进行估计,并采用切换状态误差反馈控制律给予实时主动补偿,进而实现系统加载压力的实时控制,并完成了线性/非线性切换扩张状态观测器的收敛性证明。最后,在气动变载荷摩擦磨损试验机试验平台上进行试验验证,与线性自抗扰和非线性自抗扰进行对比,试验结果表明,改进的控制器具有抗干扰性强、跟踪精度高、应用性强等特点。

关键词: 变载荷摩擦磨损试验机, 气动加载系统, 线性/非线性自抗扰切换控制, 压力跟踪控制

Abstract: In order to solve the problems in the pressure tracking control of pneumatic loading system, such as strong nonlinear, strong coupling, and model inaccuracy, a linear/nonlinear active disturbance rejection switching controller (SADRC) is put forward, which combines the advantages of the simple parameter tuning, simple theoretical analysis of the LADRC, and high precision, fast response of the NLADRC, the linear/nonlinear switching extended state observer is designed to estimate the coupling term of the system, different amplitude disturbance and its uncertainties, and the switching state error feedback control law is used for the real-time active compensation, and then the real time pressure control of the pneumatic loading system is achieved. In addition, the convergence of linear/nonlinear switching extended state observer is proved. Finally, experiments are carried out in the pneumatic variable load friction wear testing machine experiment platform, comparing with LADRC and NLADRC, the results prove that the improved controller is strong anti-disturbance, high tracking precision and strong applicability.

Key words: linear/nonlinear active disturbance rejection switching control, pneumatic loading system, pressure tracking control, variable load friction wear testing machine

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