基于自抗扰技术的挖掘机协同控制系统

Cooperative Control System of Excavator Based on Active Disturbance Rejection Technology

液压挖掘机控制系统具有非线性、大惯量、强耦合的特点,为了保证在复杂工况下,发动机转速能够稳定在经济工作区,提出了基于自抗扰控制技术的协同控制方法。利用非线性微分跟踪器(TD),快速跟踪挖掘机给定转速信号并提取优质的微分信号;通过扩张状态观测器(ESO)把挖掘机所受到的内外部扰动统一设置为“总扰动”;采用非线性状态误差反馈控制律(NSLEF),将状态误差采用非线性组合形式创建误差反馈机制,使发动机实际转速能够更好的跟踪给定转速。在Matlab/simulink软件上进行仿真,结果表明:在ADRC控制器下转速等重要性能指标上的抗干扰能力比PID控制器提高20%以上,有效的抑制了负载突变的干扰,减少了控制系统的响应时间,保证了挖掘机输出驱动的平稳运行。

The hydraulic excavator control system has the characteristics of nonlinearity,large inertia and strong coupling.In order to ensure the engine speed in the economic working area can be stabilized under complex working conditions,a collaborative control method based on active disturbance rejection control technology is proposed.The nonlinear differential tracker(TD)is used to track the given speed signal of the excavator quickly and extract high-quality differential signals;the internal and external disturbances of the excavator are uniformly set as"total disturbance"through the extended state observer(ESO);The nonlinear state error feedback control law(NSLEF)is adopted,and the state error is combined in a nonlinear form to create an error feedback mechanism,so that the actual engine speed can track the given speed better.Simulation on Matlab/simulink software,the results show that the anti-interference ability of the important performance indicators such as rotational speed under the ADRC controller is more than 20%higher than that of the PID controller,which effectively suppresses the disturbance of the load mutation,reduces the response time of the control system,and ensures the output drive of the excavator stablely.