Linear Active Disturbance Rejection Control for the Side Roller Displacement of Four-roller Plate Bending Machine

doi:10.3901/JME.2019.24.072

Abstract

Abstract: Precision control of the side roller displacement is of great importance for the high efficient processing of four-roller plate bending machine, in which the key problem is how to improve the disturbance rejection ability of the electro-hydraulic servo system (EHSS) of the valve-controlled asymmetric cylinder. Because EHSS has the characteristics of strong nonlinear and time-varying uncertainty, multiple uncertain disturbances involving unknown dynamics, external disturbance and parameter variations is very difficult to be effectively dealt with traditional nonlinear control methods. A kind of linear active disturbance rejection control (LADRC) strategy for the side roller displacement of four-roller plate bending machine is proposed. Comprehensively considering the influence of the multiple uncertain disturbances of EHSS, a linear extended state observer(LESO) is designed to estimate the disturbances in real time. The state error feedback control law is employed to actively compensate the total disturbance and eliminate the tracking errors. The convergence of the state observation error of the LESO and the closed loop stability of the EHSS has been verified. Experimental results show that the multiple uncertain disturbances of the EHSS can be effectively suppressed with the designed LADRC, and fast and accurate trajectory tracking of the side roller displacement can be realized.

Key words: four-roller plate bending machine, side roller displacement, linear extended state observer, linear active disturbance rejection control

CLC Number:

TP23

JIN Kunshan, SONG Jianli, LI Yongtang, ZHANG Zhiqiang. Linear Active Disturbance Rejection Control for the Side Roller Displacement of Four-roller Plate Bending Machine[J]. Journal of Mechanical Engineering, 2019, 55(24): 72-82.

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