电动静液作动器的阻尼自适应扰动主动补偿控制方法

Damping Adaptive Active Disturbance Compensation Control Method for Electro-hydrostatic Actuator

对于电动静液作动器(Electro-Hydrostatic Actuator,EHA),传统扰动主动补偿控制方法(Active Disturbance Compensation Control Method,ADCM)存在扩张状态观测器(Extended State Obsever,ESO)对噪声敏感、控制器设计需要作动加速度信息的问题。针对以上问题,首先利用奇异摄动理论对EHA数学模型进行合理降阶,然后设计了一种基于滤波估计器(Filter Estimator,FE)的串级扰动估计器。此外,在控制器中加入阻尼自适应函数,设计了阻尼自适应扰动主动补偿控制器(FE-AD-ADCM),从而提高了系统的位置跟踪性能。最后,利用MATLAB/Simulink和Simcenter/AMESim联合仿真平台将该方法分别与传统PI和ADCM控制器进行了详细的仿真对比分析。仿真结果表明,提出的FE-AD-ADCM能有效提升EHA位置跟踪性能和对扰动的估计精度。

For electro-hydrostatic actuator(EHA),the traditional active disturbance compensation control method(ADCM) has the problems that the extended-state-observer(ESO) is sensitive to noise and the actuating acceleration information is required for controller design.To solve the above problems,the singular perturbation theory is used to reasonably reduce the order of EHA mathematical model,and then a cascade disturbance estimator based on filter estimator(FE) is designed.In addition,the damping adaptive function is added to the controller,and the damping adaptive active disturbance compensation controller(FE-AD-ADCM) is designed.The stability of the controller is analyzed by using Lyapunov theory.Finally,MATLAB/Simulink and Simcenter/AMESim Co-simulation platforms are used to compare the proposed method with the traditional PI controller and ADCM controller.Simulation results show that the proposed FE-AD-ADCM can effectively improve EHA position tracking performance and disturbance estimation accuracy.