基于死区补偿的电液位置伺服系统自抗扰控制

针对电液位置伺服控制系统的比例阀死区、参数不确定及外部未知扰动等问题,设计了由自抗扰控制器与死区逆补偿构成的串联控制器.首先基于实验辨识构造死区逆模型对死区进行预补偿,然后根据系统特性设计了一阶自抗扰控制器,构造改进的扩张状态观测器对"总扰动"进行实时估计,并通过非线性控制律给予主动补偿.联合仿真与试验结果表明,所提出...

ADRC for Electro-hydraulic Position Servo Systems Based on Dead-zone Compensation#br#

Aiming for the problems of proportional valve dead-zone, parametric uncertainties, and unknown external disturbances in electro-hydraulic position servo control systems, a cascade controller which was composed of ADRC and dead-zone inverse compensation was designed. Firstly, the valve dead-zone was pre-compensated by an inverse model which was established based on experimental identification. Then, according to the characteristics of the system, the first-order ADRC was designed. “general disturbances” were estimated by an improved ESO and compensated by a nonlinear control law in real-time. The results of co-simulation and experiments show that the proposed cascade controller effectively compensates the proportional valve dead-zone, improves dynamic performances and position tracking accuracy of the system.