基于线性自抗扰的并联液压系统同步控制

Synchronous Control of Parallel-Hydraulic System Based on Linear Active Disturbance Rejection

针对并联液压系统的强耦合、非线性、以及内外不确定性扰动造成同步性差的问题,提出基于线性自抗扰控制的同步控制策略。首先,基于流量连续性方程建立并联液压系统的压力与负载微分模型;然后,基于自抗扰控制理论,变换系统的状态空间方程,并将参数不确定性、扰动不确定性、模型不确定性等视作“总扰动”,设计了三阶线性自抗扰同步控制器;最后,在AMESim中搭建了并联液压系统模型,并导入MATLAB/Simulink模块,通过联合仿真验证了所提控制方法的有效性,进一步地与PID控制进行比较。结果表明,基于线性自抗扰的同步控制策略下的并联液压系统的同步精度高,鲁棒性强,为对并联液压系统同步性要求较高的重载工业工程提供了新的控制思路。

Aiming at dealing with the problems of poor synchronization caused by strong coupling, nonlinearity and internal and external uncertainty disturbance of parallel hydraulic system, a synchronization control strategy based on linear active disturbance rejection control is proposed.First, based on the flow continuity equation, the differential equation model of pressure and load of hydraulic system is established, then, based on the active disturbance rejection control theory, the state space equation of the system is transformed.Taking the parameter uncertainty, disturbance uncertainty and model uncertainty as “total disturbance”,a third-order linear active disturbance rejection synchronous controller is designed.Finally, the parallel hydraulic system model is built in AMESim and imported into MATLAB/Simulink module.The effectiveness of the proposed control method is verified through joint simulation.Further compared with PID control, the simulation results show that the synchronization accuracy and robustness of the parallel hydraulic system based on LADRC are high.The paper provides a new idea for heavy-duty industrial engineering which requires high synchronization of parallel hydraulic system.