| 引用本文: | 王立新,赵丁选,刘福才,刘谦,张祝新.一类轻载电液位置伺服系统线性自抗扰控制[J].控制理论与应用,2021,38(4):503~515.[点击复制] |
| WANG Li-xin,ZHAO Ding-xuan,LIU Fu-cai,LIU Qian,ZHANG Zhu-xin.Linear active disturbance rejection control for a class of electro-hydraulic position servo system with light load[J].Control Theory and Technology,2021,38(4):503~515.[点击复制] |
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| 一类轻载电液位置伺服系统线性自抗扰控制 |
| Linear active disturbance rejection control for a class of electro-hydraulic position servo system with light load |
| 摘要点击 1905 全文点击 654 投稿时间：2020-03-22 修订日期：2020-10-28 |
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| DOI编号 10.7641/CTA.2020.00159 |
| 2021,38(4):503-515 |
| 中文关键词 液压系统 线性自抗扰控制器 阶次选择 频域分析 |
| 英文关键词 hydraulic systems linear active disturbance rejection controller order selection frequency analysis |
| 基金项目 国家重点研发计划项目(2016YFC0802902), 河北省自然科学基金创新研究群体项目(E2020203174), 河北省重点研发计划项目(20353501D), 燕山 大学创新研究助手支持项目(CXZS202003)资助. |
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| 中文摘要 |
| 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. |
| 英文摘要 |
| 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. |
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