一类轻载电液位置伺服系统线性自抗扰控制

为解决一类轻载电液位置伺服系统线性自抗扰控制器设计过程中面临的阶次选择问题,本文从系统特性、频域等角度,分析自抗扰框架中“积分器串联结构”与轻载电液位置伺服系统之间的内在联系,得到轻载电液位置伺服系统在自抗扰控制框架下是本质“一阶”系统的结论,从而合理设计了1阶线性自抗扰控制器.在此基础上,提出了有效的控制器参数整定方法,并分析了闭环系统的稳定性.仿真和试验结果表明,与高阶相比1阶线性自抗扰控制器可以更好地控制动态过程较快、负载较轻的惯性负载电液位置伺服系统,为自抗扰控制在液压伺服领域的工程应用提供了参考.

Linear active disturbance rejection control for a class of electro-hydraulic position servo system with light load

The problem of order selection is encountered in the design of the linear active disturbance rejection control(LADRC)for a class of electro-hydraulic position servo system with a light load.In order to solve the problem,the relationship between the“cascade structure of integrators”in active disturbance rejection control framework and the electro-hydraulic position servo systems with a light load is revealed via the system characteristics and frequency domain analysis.An electro-hydraulic position servo system with a light load is illustrated to be a“first-order”system in the active disturbance rejection control framework.Then a first-order linear active disturbance rejection controller is designed successfully.Simultaneously,an effective controller parameter tuning method is proposed,and the stability of the closed-loop system is proved.The simulation and experiment results show that the first-order LADRC can control the electro-hydraulic position servo system with the fast dynamic process and a light load more excellent than the higher-order LADRC.The proposed method provides a reference for the engineering application of LADRC in the hydraulic servo control field.