线性自抗扰气缸位置伺服控制研究

Cylinder Positioning Servo Control Via Linear Active Disturbance Rejection Controller

针对气动伺服系统复杂的非线性问题,提出了一种线性自抗扰控制策略对气动伺服系统进行位置控制。利用线性自抗扰控制器不依赖于被控对象精确数学模型的特点,解决被控气动系统内外各种不确定性,设计了线性扩张状态观测器来估计和补偿系统的全部干扰,同时给出了线性状态误差反馈控制器来保证系统的闭环响应性能。证明了线性扩张状态观测器的收敛性和闭环系统的镇定性。应用线性自抗扰控制策略与PID控制策略在气缸伺服系统中进行实验、比较,实验结果表明所设计的线性自抗扰控制器具有良好的控制效果。

A linear active disturbance rejection control （LADRC） strategy is proposed to control the positioning of the pneumatic servo system with strong nonlinear problem. The linear active disturbance rejection control less depends on accurate mathematic models of the controlled system, and can effectively solve various uncertainties. Firstly, a linear extended state observer （LESO） is designed to estimate and compensate total disturbances of the system, and a linear state error feedback controller （LSEF） is established to ensure good performances of the closed-loop system. Secondly, the convergence of the LESO and stabilization of the close-loop system are proved. Finally, though comparison of experimental results between the LADRC strategy and the PID strategy, it is known that the proposed strategy has good control effect.