基于自抗扰的电液伺服被动力加载控制研究

Research on Passive Force Loading Control of Electro-hydraulic Servo System Based on ADRC

摘要:

针对传统自抗扰控制在电液伺服被动力加载系统应用时存在的观测器阶数较高,造成观测变量多、观测器负担重、系统响应超调大等问题,采用一种改进的降阶线性自抗扰控制方法,将系统中的力输出信息视为已知量,系统中的高阶项和扰动项视为总扰动,从系统频域角度出发,分析自抗扰控制器中积分器串联结构与系统模型之间的内在联系,选取合适的状态观测器阶数,简化控制器结构；引入系统力误差信息作为控制器输入,在对系统扰动进行估计补偿的同时实现了输入信号的微分前馈,提高了系统的响应速度,减小系统超调；仿真结果表明,所采用的改进型自抗扰控制器既可以满足系统快速响应的需求,又能够有效抑制系统未知扰动。

Abstract:

Aiming at the problems of high observer order, excessive observed variables, heavy observer burden and large system response overshoot when the traditional active disturbance rejection control (ADRC) is applied to the electro-hydraulic servo passive force loading system, an improved reduced-order linear ADRC method is proposed. Specifically, the force output of the system is treated as a known quantity, while the high-order terms and disturbance components are lumped into a total disturbance. From the frequency-domain perspective of the system, the intrinsic correlation between the cascaded integrator structure of the ADRC and the system model is analyzed, and an optimal order of the state observer is selected to simplify the controller architecture. By incorporating the system force error signal as the controller input, differential feedforward of the reference signal is implemented synchronously with the estimation and compensation of system disturbances, which enhances the dynamic response speed of the system and mitigates the overshoot effectively. Simulation results demonstrate that the proposed improved ADRC scheme not only satisfies the requirement for rapid system response but also exhibits superior capability in suppressing unknown disturbances of the system.