自抗扰控制器在气压伺服控制系统中的应用

Application of auto-disturbance rejection controller for pneumatic servo system

为提高控制系统的鲁棒性,增强干扰抑制能力,提出了适用于气压伺服系统的自抗扰控制器方案,并讨论了控制参数的整定.自抗扰控制器为非线性控制器,由跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律3部分构成.扩张状态观测器可以实时观测系统状态和扩张状态,从而实现全状态反馈及系统不确定性和外扰的补偿控制.自抗扰控制器的设计不依赖于被控系统的精确数学模型,并对内外扰有较强的抑制能力,在整个系统工作区间都有良好的鲁棒性.仿真结果表明,自抗扰控制器对气动伺服系统模型的不确定性以及外干扰的鲁棒性较好,且具有较优的动态性能.

To improve the robustness of control systems, a nonlinear auto-disturbance rejection control （ADRC） technique for pneumatic servo systems was developed and a parameter setting method was given. The nonlinear controller is mainly composed of an extended state observer （ESO）, an input reference signal tracking-differentiator （TD） and a nonlinear state error feedback （NLSEF） control law. The extended state observer can track successfully the states and extended state of the system, and it is possible to realize the state feedback and handle the model uncertainty and external disturbance compensation. The design of ADRC is independent of controlled system model, and it shows its good adaptability and robustness in whole operation areas. The simulation results show that ADRC is robust against modeling uncertainty and external disturbances for pneumatic servo systems, The dynamic performance of the system using ADRC can be improved as well.