摘要
针对电静液作动器系统中存在的匹配干扰及不匹配干扰,基于扩张状态观测器,设计了一种自调节积分鲁棒控制方法。首先设计了扩张状态观测器估计系统的匹配不确定性并且进行前馈补偿;然后设计了自调节积分鲁棒控制器分别处理系统的不匹配干扰和状态估计误差,实现了电静液作动器的渐近跟踪控制;最后通过仿真验证了该控制方案的有效性。结果表明:相较于传统的PID控制器,该控制器的跟踪误差约为0.2mm,控制精度达到0.4%左右。
Aiming at the matched and mismatched disturbances in electro-hydrostatic actuator(EHA)system,an adjustable robust integral of the sign of the error(ARISE)control strategy with extended state observer(ESO)is proposed.First of all,ESO is used to estimate the matched uncertainties and perform feedforward compensation.Then the ARISE controller is designed to suppress the mismatched uncertainties and state estimation error,which realizes the asymptotic tracking control of the electro-hydrostatic actuator.The control strategy of the hydraulic system model of EHA was simulated and verified by MATLAB.The results show that compared with the traditional PID controller,the tracking error of this controller is about 0.2mm,and the control strategy can keep the tracking accuracy around 0.4%.
作者
姚建勇
张连仲
王拓
邓文翔
杨晓伟
梁相龙
YAO Jianyong;ZHANG Lianzhong;WANG Tuo;DENG Wenxiang;YANG Xiaowei;LIANG Xianglong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094;Jiangsu Automation Research Institute,Lianyungang 222006)
出处
《飞控与探测》
2022年第1期30-38,共9页
Flight Control & Detection
基金
国家自然科学基金(52075262)。
关键词
电静液作动器
匹配干扰
不匹配干扰
扩张状态观测器
渐近跟踪
electro-hydraulic actuator(EHA)
matched disturbances
mismatched disturbances
extended state observer(ESO)
asymptotic tracking
