Jin Kunshan, Song Jianli, Li Yongtang, Zhang Zhiqiang, Zhou Haibo, Chang Xin
Shanxi Key Laboratory of Metallic Materials Forming Theory and Technology, Taiyuan University of Science & Technology, Taiyuan, P. R. China.
School of Instrument Science and Opto-Electronics Engineering, Beijing Information Science and Technology University, Beijing, P. R. China.
Sci Prog. 2021 Jan-Mar;104(1):368504211000907. doi: 10.1177/00368504211000907.
Valve-controlled asymmetric cylinder is widely used in servo loading system. As a kind of typical electro-hydraulic servo system (EHSS), it inherently has the characteristics such as high order nonlinear, strong coupling, and uncertain, therefore, conventional control strategy is difficult to satisfy the requirements of high-performance control. In this paper, a novel linear active disturbance rejection control (LADRC) method was proposed, in which the internal and external disturbances were actively estimated by the third-order linear extended state observer (LESO) in real-time, and rejected by the control law of proportional integral control (PID) with acceleration feed-forward. The stability of the proposed method was proved, and the influence rules of the LADRC parameters on the control performance were revealed by simulation. Finally, comparative experiments between LADRC and PID control were carried out, results showed that the disturbances can be effectively compensated and the control goals can be successfully achieved with the proposed method.
阀控非对称缸广泛应用于伺服加载系统。作为一种典型的电液伺服系统（EHSS），它固有地具有高阶非线性、强耦合和不确定性等特点，因此，传统控制策略难以满足高性能控制的要求。本文提出了一种新型线性自抗扰控制（LADRC）方法，其中通过三阶线性扩张状态观测器（LESO）实时主动估计内外部干扰，并通过带加速度前馈的比例积分控制（PID）控制律进行抑制。证明了该方法的稳定性，并通过仿真揭示了LADRC参数对控制性能的影响规律。最后，进行了LADRC与PID控制的对比实验，结果表明所提方法能够有效补偿干扰并成功实现控制目标。
