摘要
In this study,a novel hybrid ejection system with hydraulic system and pulley-rope mechanism is proposed to accurately track the speed command of the hybrid ejection system.Aiming at the high-order,nonlinear and uncertain characteristics of hybrid ejection system,a new improved method of active disturbance rejection controller is proposed,which achieves good antiinterference performance while maintaining the system stability.The controller is obtained by combining fuzzy control algorithm with extended state observer by backstepping method.By adding a state feedback,two extended state observers are applied to hydraulic system and pulley-rope mechanism respectively,which solves the problem that the extended state observers of the high-order system cannot determine the appropriate controller parameters to achieve the expected performance.Meanwhile,fuzzy control algorithm is addressed to reduce the oscillations or even instability induced by large controller bandwidth.With this idea,the mathematical model and the co-simulation model based on MATLAB-AMESim are established.The simulation results show that the proposed controller can significantly improve the speed tracking accuracy and shorten the response time.Finally,the proposed control strategy is verified by experiments.
