基于自抗扰控制的直驱电液伺服系统仿真研究

Simulation of Direct Drive Electrol-Hydraulic Servo System Based on ADRC

针对直驱式电液伺服系统中存在的非线性特性和外部扰动导致系统流量供给不平衡问题,基于自抗扰控制理论,提出一种基于三阶线性自抗扰控制的液压缸位置控制方法,实现直驱式电液伺服系统电机转速与液压缸位置的闭环控制。同时针对传统系统建模不精确导致控制效果差的问题,在理论分析的基础上,结合电液伺服系统的性能和实际工况,基于AMESim建立直驱式伺服液压系统仿真模型。通过建立AMESim和Simulink的联合仿真模型,验证控制器的有效性。结果表明:该控制策略可以有效消除由于流量供给不平衡导致的液压缸在换向运动时出现位移波动,液压缸位移的平均绝对百分比误差为4.4%,较好地实现位置跟踪。在外负载扰动的情况下,系统具有较强的抗干扰能力,从而保证系统的稳定性。

Aiming at the problem of unbalanced flow supply caused by nonlinear characteristics and external disturbance in direct drive electro-hydraulic servo system, based on active disturbance rejection control theory, a hydraulic cylinder position control method based on third-order linear active disturbance rejection control was proposed to realize the closed-loop control of motor speed and hydraulic cylinder position in direct drive electro-hydraulic servo system.Meanwhile, aiming at the problem of poor control effect caused by imprecise modeling of traditional system, based on theoretical analysis, combined with the performance and actual working conditions of electro-hydraulic servo system, the AMESim simulation model of direct drive servo hydraulic system was established.The co-simulation model of AMESim and Simulink was established to verify the effectiveness of the controller. The results show that the control strategy can be used to effectively eliminate the displacement fluctuation caused by the unbalanced flow supply, and the average absolute percentage error of hydraulic cylinder displacement is 4.4%, so a good position tracking can be achieved.In the case of external load disturbance, the system has strong anti-interference ability to ensure the stability of the system.