非对称阀控缸的电液位置自抗扰控制

Electro-Hydraulic Position Active Disturbance Rejection Control of Asymmetric Valve-Controlled Cylinder

针对阀控缸在工作过程中遇到的外界扰动问题,建立了阀控缸的数学模型,运用自抗扰控制方法,将控制系统的内部扰动和外部扰动看作系统的总和扰动并估算其数值,通过在控制信号中给予补偿,使控制系统变为积分串联型系统。设计稳定平台的自抗扰控制器,分析验证其对控制系统内扰动的抑制能力。通过仿真实验证明,自抗扰控制实现了快速、稳定的阀控缸电液位置控制。

Aiming at the external disturbance problem encountered by the valve-controlled cylinder in the work process,this paper establishes a mathematical model of the valve-controlled cylinder.Using the active disturbance rejection control method,the internal and external disturbances of the control system are regarded as the total disturbance of the system and its numerical value is estimated.By compensating in the control signal,the control system becomes an integral series system.The active disturbance rejection controller of the stable platform is designed,and its ability to suppress the disturbance in the control system is analyzed and verified.The simulation results show that the active disturbance rejection control can achieve fast and stable electro-hydraulic position control of valve-controlled cylinder.