| 气动恒力控制系统的自抗扰控制 |
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| 引用本文： | 张树忠,吴安根,戴福全,刘路杰,陈添益. 气动恒力控制系统的自抗扰控制[J]. 液压与气动, 2022, 0(7): 83-89. DOI: 10.11832/j.issn.1000-4858.2022.07.011 |
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| 作者姓名： | 张树忠 吴安根 戴福全 刘路杰 陈添益 |
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| 作者单位： | 1.福建工程学院 机械与汽车工程学院, 福建 福州 350108; 2.先进驱动节能技术教育部工程研究中心, 四川 成都 610031; 3.闽江学院 工业机器人应用福建省高校工程研究中心, 福建 福州 350108 |
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| 基金项目： | 福建省科技重大专项(2020HZ03018)；;福建省高校科技创新团队培养计划(闽教科[2020]12号)；;福建省自然科学基金(2021J011051)； |
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| 摘 要： | 针对磨削和抛光等对恒力控制装置的迫切需求,开展气动恒力控制系统研究。由于气动系统存在比例流量阀死区、气缸摩擦力以及气体可压缩等非线性问题,提出了一种二阶线性PID自抗扰控制器,并加入了死区补偿器。该控制器采用跟踪微分器对输入信号进行过渡,利用扩张状态观测器对非线性参数影响进行估计,并通过线性PID反馈控制律进行补偿,同时引入死区补偿器快速跳过死区范围。试验结果表明,相比传统PID控制和积分型线性自抗扰控制(I-LADRC),线性PID自抗扰控制具有更好的动态响应以及更强的鲁棒性,并且稳态误差小于2 N。
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| 关 键 词： | 气动系统 恒力控制 死区补偿 线性PID自抗扰控制 |
| 收稿时间： | 2021-11-12 |
Active Disturbance Rejection Control for Constant Force Control of Pneumatic System |
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| ZHANG Shu-zhong,WU An-gen,DAI Fu-quan,LIU Lu-jie,CHEN Tian-yi. Active Disturbance Rejection Control for Constant Force Control of Pneumatic System[J]. Chinese Hydraulics & Pneumatics, 2022, 0(7): 83-89. DOI: 10.11832/j.issn.1000-4858.2022.07.011 |
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| Authors: | ZHANG Shu-zhong WU An-gen DAI Fu-quan LIU Lu-jie CHEN Tian-yi |
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| Affiliation: | 1. School of Mechanical and Automotive Engineering, Fujian University of Technology, Fuzhou, Fujian 350108;2. Engineering Research Center of Advanced Energy Saving Driving Technology, Ministry of Education, Chengdu, Sichuan 610031;3. Industrial Robot Application of Fujian University Engineering Research Center, Minjiang University, Fuzhou, Fujian 350108 |
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| Abstract: | To meet the rising needs of equipment with active flexibility in the industry, such as grinding, polishing on the surface of workpiece, this paper focuses on constant force control of a pneumatic system. Due to nonlinear problems of the dead-zone of the proportional flow control valve, the friction of cylinder, and the compressibility of gas, a second-order linear proportional-integral-differential (PID) active disturbance rejection controller is proposed, and a dead-zone compensator is added. The controller uses the tracking-differentiator to transition the input signal and the extended state observer to accurately estimate the influence of the nonlinear parameters compensated by a linear PID feedback control law. The experimental results show that, compared with PID control and integral-linear active disturbance rejection controller (I-LADRC), the linear PID active disturbance rejection controll has a better dynamic response and stronger robustness, and the steady-state error is less than 2 N. |
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| Keywords: | pneumatic system constant force control dead-zone compensation linear PID active disturbance rejection control |
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