摘要
针对液压伺服系统中的非线性和不确定特性,为了改善双电液位置伺服系统的同步性,设计了基于自抗扰控制器的速度环电液位置系统,对速度系统的内部扰动和外部扰动进行观测,并加以补偿,同时引入两侧速度偏差补偿信号,实现对速度和位置控制。仿真实验结果表明,此控制方案十分有效,具有较强的鲁棒性,动态过程同步误差小,能较好地满足被控对象对高精度同步控制的要求。
Aiming at the nonlinear and uncertain characteristics of the hydraulic servo system, a hydraulic position system is designed based on auto-disturbance rejection to improve the synchronism of the servo system. With the help of the system, both inner disturbance and outside disturbance in the speed system can be ob- served and compensated. At the same time, the speed error compensation signal is introduced to implement synchronous control of both speed and position. The results of simulation show that the proposed scheme is effective, and the system has strong robustness, good rapidity and small synchronous error for dynamical processes. Thus this control method can satisfy the demand for a high precise synchronous control.
出处
《重型机械》
2009年第2期29-32,共4页
Heavy Machinery
基金
吉林省科技厅项目(200505263)
关键词
液压伺服
自抗扰
同步控制
hydraulic servo
auto-disturbance rejection controller（ADRC）
synchronization control
