轧机液压APC系统的自抗扰控制研究

Research on the Active Disturbance Rejection Control in the Hydraulic APC System of Rolling Mill

考虑到液压APC系统存在不确定负载干扰和未建模动态的特点,首先建立了液压APC系统的模型,将不确定性负载扰动和未建模动态视为一个综合扰动项,然后利用扩张状态观测器(ESO)对其进行观测和补偿,并基于自抗扰控制技术设计了一个不依赖于对象模型的控制器。仿真结果表明:该控制器不仅有效地抑制了不确定负载扰动对系统的影响,同时对受控对象模型参数的变化也具有较强的鲁棒性。

For the characteristics of hydraulic automatic position control（APC） system,such as uncertain external disturbance and unmodelled dynamics,the model of automatic position control system was established,in which uncertain load disturbance and unmodelled dynamics were regarded as one integrated disturbance.Using extended states observer（ESO）,a new observer was proposed to observe and compensate this integrated disturbance,and a controller was designed based on active disturbance rejection control（ADRC）.This controller has very strong robustness to external disturbance,and to unpredictable plant parameter variations.