新型电液舵机的自抗扰控制算法及试验研究

Application research on active disturbance rejection control algorithm and test of electro-hydraulic steering gear

[目的]直驱式容积控制的新型电液舵机是典型的大惯量小阻尼系统,为解决其控制快速性、稳定性以及安静性之间的矛盾,需开展电液舵机的自抗扰控制研究。[方法]首先,建立电液舵机的自抗扰控制(ADRC)模型,重点设计过渡过程以缓解启停瞬间的液压冲击;然后,搭建实物控制试验台,通过分析实物控制过程的稳定性问题,相应调整算法的滤波效果,并增加输出滤波预估模块,从而预报并补偿电液舵机的大时滞;最后,开展算法优化前后的控制性能对比测试。[结果]试验结果表明:在改进的自抗扰控制算法作用下,电液舵机启停瞬态的结构振动降幅约6~10 dB,位置控制精度在1 mm以内,在负载冲击等外界干扰下具有较好的稳定性和跟随性。[结论]研究成果可为大惯量小阻尼系统的稳定控制和自抗扰控制算法的工程化应用提供参考。

[Objectives]The new type of electro-hydraulic steering gear with direct drive volume control is a typical system with large inertia and small damping.To solve the problem of control rapidity,stability and quietness contradicting each other,the engineering application of active disturbance rejection control(ADRC)for the electro-hydraulic steering gear is studied.[Methods]First,the ADRC model of the electro-hydraulic steering gear is established and a transition process is designed to control the start-stop hydraulic impact.Next,a physical control test-bed is built,the stability of physical control is analyzed,the filtering effect of the algorithm is adjusted,an output filtering prediction module is added,and the big time delay of the electro-hydraulic steering gear is predicted and compensated.Finally,a comparative test of the algorithm control performance before and after optimization is carried out.[Results]The experimental results show that,under the action of the improved ADRC control algorithm,the structural vibration of the electro-hydraulic steering gear in the start-stop transient state is reduced by about 6–10 dB,the position accuracy can be controlled within1 mm,and the steering gear has good stability and followability under external interference such as load impact.[Conclusion]The results of this study can provide references for the stability control and ADRC algorithms of systems with large inertia and small damping.