基于改进自抗扰的往复式牵引装置速度控制

Speed control of reciprocating traction device based on improved active disturbance rejection

为解决往复式牵引装置速度波动的问题,分析引起往复式牵引装置速度波动的原因并提出解决方案。首先,对往复式牵引装置的伺服直驱液压系统进行研究,建立永磁同步电机及液压部分的数学模型,在AMESim软件中建立控制系统仿真模型;其次,为提高往复式牵引装置的控制效果,提出一种基于光滑fal(e,α,δ)函数和前馈扰动补偿的改进自抗扰控制器;然后,通过接口将AMESim软件与MATLAB-Simulink软件进行联合仿真研究,以0.2 m/min阶跃速度作为输入信号,得到控制系统响应时间为0.35 s,稳态精度为0.0015 m/min,相比改进前的控制系统响应速度更快、稳态精度更高;最后,通过实验平台对改进自抗扰控制器进行实验验证,结果表明实验曲线与仿真曲线较为吻合,验证了控制系统仿真模型的正确性,并将改进自抗扰控制器用于往复式牵引装置的速度控制,解决了往复式牵引装置速度波动的问题,提高了牵引出的管材制品的表面质量。

In order to solve the problem of speed fluctuation of the reciprocating traction device,the causes of speed fluctuation of the reciprocating traction device were analyzed and the solutions were put forward.Firstly,the servo direct drive hydraulic system of the reciprocating traction device was studied,the mathematical models of the permanent magnet synchronous motor and the hydraulic part were established,and the simulation model of the control system was established in AMESim software.Secondly,in order to improve the control effect of the reciprocating traction device,an improved active disturbance rejection controller based on smooth fal(e,α,δ)function and feedforward disturbance compensation was proposed.Then,the AMESim software and MATLAB-Simulink software were co-simulated through the interface.With the step speed of 0.2 m/min as the input signal,the response time of the control system was 0.35 seconds,and the steady-state accuracy was 0.0015 m/min.Compared with the original control system,the response speed is faster and the steady-state accuracy is better.Finally,the improved active disturbance rejection controller was tested on the experimental platform.The results show that the experimental curve is in good agreement with the simulation curve,which verifies the correctness of the simulation model of the control system.The improved active disturbance rejection controller was applied to the speed control of the reciprocating traction device,which solved the problem of speed fluctuation of the reciprocating traction device and improved the surface quality of the traction pipe products.