一种新结构自抗扰控制在电液伺服系统中的应用

提出了一种基于零点可调的线性自抗扰控制器结构.在不影响系统稳定性的前提下,调节控制器的零点参数改变系统的响应速度;改变了不确定扰动的补偿方式,消去线性组合补偿(LFC)与扩张状态观测器(ESO)的参数耦合.通过经典控制理论和波特图分析了该控制器时域和频域特性,给出调节零点参数的取值范围;分析噪声对扩张状态观测器的影响,提出了ESO参数选取的条件.通过电液伺服系统跟踪给定曲线实验,表明调节零点参数可以有效加快系统响应,使参数整定更容易.

A New ADRC Structure and Its Application to Electro-Hydraulic Servo System

A new active-disturbance rejection control (ADRC) structure based on zero-tunable is proposed. The mode of linear feedback combination (LFC) was optimized. System response speed could be tunable by setting the zero-parameter without changing the stability of the control system. The method to compensate uncertain disturbance could eliminate the couples between the LFC and extended state observer(ESO). Classic control theory and Bode diagramed were used to analysis the characteristics of the proposed structure in frequency and time domain. The optimal selected range of zero-parameter was achieved. Also, the effects of noise disturbance on the parameter selection of ESO were analyzed. The tracing experiment of electro-hydraulic servo system has been down for a given sinusoidal signal. The results show that the proposed controller structure has the advantages of easy tuning parameters and good anti-disturbance function.