电液舵机的自抗扰控制研究

Active Disturbance Rejection Control of Electro-hydraulic Steering Gear System

采用直驱式伺服控制的新型电液舵机系统具有非线性程度高、系统响应慢、易受外界负载扰动等特点,传统的PID控制器无法抵抗外界干扰,对大工况变化系统控制效果差。为克服传统PID控制器的缺点,安排了过渡过程,调节系统的响应过程以降低启停过程的动态冲击;设计了扩张状态观测器,估计补偿系统受到的水动力负载扰动;进一步通过非线性控制规律组合,增加了系统的响应速度。基于设计的自抗扰控制器,采用了MATLAB和AMESim联合仿真研究。与传统的PID控制器对比:运用自抗扰控制的电液舵机,启停过程更加平滑;控制特性不变的情况下系统抗干扰能力得到进一步增强。

Electro-hydraulic steering gear systems drove directly by servomotor have a characteristic of high nonlinear degree,low response and vulnerable to external load disturbance.Traditional PID controller cannot resist interference.Moreover,with working condition changing,control effect becomes poor.In order to overcome the shortcomings of the traditional PID controller,the transition process was arranged to adjust the system’s response process and reduce the dynamic impact at the start-stop process.The expansion state observer(ESO)was designed to estimate and compensate the hydrodynamic load disturbance.Furthermore,the response speed of the system was increased through the combination of nonlinear control law.Based on the design of active disturbance rejection controller(ADRC),MATLAB and AMESim co-simulation research was adopted.Compared with the traditional PID controller,the results show that the start-stop process controlled by active disturbance rejection technique is smoother,and the system’s anti-interference ability is further enhanced.