摘要
由于参数不确定、系统非线性以及外部未知干扰等因素的影响,常常导致液压伺服系统难以获得较好的动态性能,针对此问题,提出将自抗扰控制技术应用于液压伺服绞车的速度控制。首先,介绍了液压伺服绞车的工作原理,建立了液压伺服系统的数学模型,并推导出液压伺服系统的状态空间方程;其次,根据液压伺服系统的状态空间方程,设计五阶线性扩张状态观测器和线性误差反馈控制律,并构建四阶线性自抗扰控制器;然后,根据液压伺服系统在快速接近工况时的速度变化要求,规划了S型速度曲线作为液压伺服系统仿真模型的输入信号;最后,在Simulink软件中搭建了液压伺服系统仿真模型,并将四阶线性自抗扰控制器(Linear Active Disturbance Rejection Controller,LADRC)和比例积分微分(Proportion Integration Differentiation,PID)控制器引入液压伺服系统,对比研究了2个控制器对液压伺服系统动态性能的影响。仿真结果表明,相比于PID控制器,液压伺服系统在四阶LADRC的作用下,响应速度更快,跟踪精度更高,抗外界干扰能力更强。
Due to factors such as parameter uncertainty,system nonlinearity,and unknown external disturbances,it is often difficult for hydraulic servo systems to obtain better dynamic performance.In order to solve this problem,the auto-disturbance rejection control technology was applied to the speed control of hydraulic servo winch.Firstly,the working principle of hydraulic servo winch was introduced,the mathematical model of the hydraulic servo system was established,and the state space equation of the hydraulic servo system was deduced;secondly,according to the state space equation of the hydraulic servo system,the fifth order linear extended state observer and linear error feedback control law were designed,and the fourth order linear active disturbance rejection controller was constructed;then,according to the speed change requirements of the hydraulic servo system when approaching the working condition rapidly,the S-type speed curve was planned as the input signal of the hydraulic servo system simulation model;finally,the hydraulic servo system simulation model was built in Simulink software,and two controllers,the fourth order Linear Active Disturbance Rejection Controller(LADRC)and Proportion Integration Differentiation(PID)controller,were introduced into the hydraulic servo system to compare and study the impact of the two sets of controllers on the dynamic performance of the hydraulic servo system.The simulation results show that compared with PID controller,the hydraulic servo system has faster response speed,higher tracking accuracy and stronger ability to resist external interference under the action of the fourth order LADRC.
作者
刘琛华
LIU Chenhua(AEMETEC Smart Technology Co.,Ltd.,Changsha 410129,China)
出处
《现代制造工程》
CSCD
北大核心
2023年第10期145-154,共10页
Modern Manufacturing Engineering
关键词
液压伺服系统
液压伺服绞车
动态性能
S型速度曲线
自抗扰控制
hydraulic servo system
hydraulic servo winch
dynamic performance
S-type speed curve
automatic disturbance rejection control
