基于线性自抗扰的消防水炮控制系统

Fire water monitor control system based on LADRC

针对消防机器人中水炮控制系统存在非线性、快时变、强耦合的特点,提出一种基于线性自抗扰的控制策略以提高控制精度。给出消防水炮伺服控制系统的结构及数学模型,设计线性自抗扰控制器,并根据现代控制理论给出线性自抗扰控制的参数选择方法。在消防水炮控制实验平台对线性自抗扰控制器与常规的PD控制器进行对比实验。实验结果表明,该方案与传统PD控制相比较,具有控制精度高、超调量小的优点,改善了系统的控制性能。

Since the fire water monitor control system in fire.fighting robot has the nonlinear,time-varying and strong-coupling characteristics,a control strategy based on linear active disturbance rejection controller(LADRC)is proposed to improve the control accuracy.The structure and mathematical model of the fire water monitor servo control system are given.The LADRC is designed.The parameter selection method of linear active disturbance rejection control is given according to modern control theory.The comparative experiment of the LADRC and traditional PD controller is conducted on the fire water monitor control platform.The experimental result shows that,in comparison with the traditional PD controller,the proposed controller has the advantages of high control precision and low overshoot,and can improve the control performance of the system.