凿岩机器人液压系统自抗扰控制研究

Study on Active Disturbance Rejection Control of Rock Drill Robot Joint Hydraulic Drive System

给出凿岩机器人关节驱动液压系统的数学模型,对其进行降阶近似,使用自抗扰控制方法设计二阶控制器,并在不确定环境下进行仿真研究。结果表明,该控制器对于系统参数摄动和大负载干扰具有理想的鲁棒能力,控制过程快速、平滑,稳态精度高。

Mathematic model of rock drill robot joint hydraulic drive system was analyzed, and the reduced-order approximative model was acquired. Then the Active Disturbance Rejection Controll method was used to design the two-order controller and the simulations were done within uncertainty environments. The simulation results show that the ADRC controller has ideal robustness to the hydraulic system parameters＇ disturbances and the large load disturbance, and rapid and smooth control process and high steady precise performances can be implemented.