电液位置伺服系统低阶自抗扰控制研究

Researchon Eectro-Hydraulic Position Servol Systemswith Lw-Order Aoctive Disturbance Rejection Control

电液位置伺服系统是一种时变非线性、外部扰动未知且数学模型复杂的高阶系统,对其采用的高阶自抗扰控制方法,需要整定参数较多,模型结构复杂,在实际工程应用中难以实现。针对这个问题,对电液位置伺服系统的一阶和二阶自抗扰控制(ADRC)性能进行研究,实现电液位置伺服系统的低阶自抗扰控制。基于Simulink建立的电液位置伺服系统的低阶自抗扰控制系统,给定阶跃和正弦信号指令,并对系统施加一个负载扰动力,分析系统的响应速度、准确性和抗干扰能力。结果表明,一阶和二阶自抗扰控制都可以使电液位置伺服系统达到稳定状态,且二阶非线性自抗扰控制系统响应速度更快,控制精度高,鲁棒性更强。

The electro-hydraulic position servo system is a time-varying non-linear,unknown external disturbance and complex mathematical model of high-order systems,for which the high-order ADRC method requires more rectification parameters and a complex model structure,which is difficult to implement in practical engineering applications.To address this problem,the first-and second-order ADRC performance of electro-hydraulic position servo systems is investigated to achieve low-order ADRC of electro-hydraulic position servo systems.The low-order ADRC system of the electro-hydraulic position servo system is established based on Simulink,given step and sinusoidal signal commands,and a load disturbance force is applied to the system to analyze the response speed,accuracy and immunity of the system.The results show that both first-order and second-order ADRC can bring the electro-hydraulic position servo system to a steady state,and the second-order non-linear ADRC system has a faster response,higher control accuracy and greater robustness.