摘要
针对新型采棉机滚筒部分采棉头转速不稳定问题,以比例阀控马达恒速控制系统为研究对象,建立阀控马达系统的数学模型,根据此数学模型设计二阶自抗扰控制器,将扰动误差、系统未建模误差等记入系统总误差中,设计状态扩张观测器实时观测并通过非线性控制器直接补偿,然后再对负载干扰设计前馈控制器,补偿稳态误差。仿真结果表明:前馈+ADRC的复合控制效果更优,响应时间和超调量都有明显下降,具有很好的抗干扰能力和鲁棒性。
In order to solve the problem of unstable speed of cotton picking head in the drum of new type cotton picker,the mathematical model of the valve controlled motor system was established by taking the constant speed control system of proportional valve controlled motor as the research object.According to the mathematical model,the second-order auto disturbance rejection con⁃troller was designed.Then the disturbance error and unmodeled error of the system were recorded in the total system error,and the state extended observer was designed to observe in real time and compensate directly by nonlinear controller.Then the feedforward con⁃troller was designed to compensate the steady-state error.The simulation results show that the compound control effect of feedforward+ADRC is better,the response time and overshoot are significantly reduced,and it has good anti-interference ability and robustness.
作者
刘中日
木合塔尔·克力木
LIU Zhongri;Muhtar Klim(School of Mechanical Engineering,Xinjiang University,Urumqi Xinjiang 830047,China)
出处
《机床与液压》
北大核心
2021年第24期130-134,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金项目(51365052)。
关键词
阀控马达系统
前馈控制
自抗扰控制
恒速控制
Valve controlled motor system
Feedforward control
Active disturbance rejection control
Constant speed control
