电液负载敏感位置伺服系统自抗扰控制方法

刘华; 汪成文; 郭新平; 赵斌; 霍鹏飞

doi:10.13700/j.bh.1001-5965.2019.0569

电液负载敏感位置伺服系统自抗扰控制方法

doi: 10.13700/j.bh.1001-5965.2019.0569

刘华¹,
汪成文^{1, 2, ,},
郭新平¹,
赵斌^{1, 2},
霍鹏飞³

1.
太原理工大学机械与运载工程学院, 太原 030024
2.
浙江大学流体动力与机电系统国家重点实验室, 杭州 310058
3.
山西智恒成科技有限公司, 太原 030006

基金项目:

国家自然科学基金 51605322

国家自然科学基金 51505316

山西省重点研发计划 201903D121069

山西省重点研发计划 201803D121098

山西省回国留学人员科研资助项目 2019-001

山西省回国留学人员科研资助项目 2017-033

流体动力与机电系统国家重点实验室开放基金 GZKF-201720

流体动力与机电系统国家重点实验室开放基金 GZKF-201815

详细信息

作者简介:
刘华男, 硕士研究生。主要研究方向:电液伺服控制

汪成文男, 博士, 副教授, 硕士生导师。主要研究方向:电液伺服控制

通讯作者:
汪成文, E-mail: cwwang@yeah.net

中图分类号: TH137
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- 文章访问数: 763
- HTML全文浏览量: 182
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- 被引次数: 0
出版历程
- 收稿日期: 2019-11-02
- 录用日期: 2019-12-27
- 网络出版日期: 2020-11-20

Active disturbance rejection control method for position servo system based on electro-hydraulic load sensing

LIU Hua¹,
WANG Chengwen^{1, 2
, ,},
GUO Xinping¹,
ZHAO Bin^{1, 2},
HUO Pengfei³

1.
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China
2.
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China
3.
Shanxi Joinsin Technology Co., Ltd., Taiyuan 030006, China

Funds:

National Natural Science Foundation of China 51605322

National Natural Science Foundation of China 51505316

Key Research and Development Project of Shanxi Province 201903D121069

Key Research and Development Project of Shanxi Province 201803D121098

Research Project Supported by Shanxi Scholarship Council of China 2019-001

Research Project Supported by Shanxi Scholarship Council of China 2017-033

Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems GZKF-201720

Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems GZKF-201815

More Information

Corresponding author: WANG Chengwen, E-mail: cwwang@yeah.net

摘要

摘要:
针对电液负载敏感系统中泵阀控制的耦合问题，提出了一种基于自抗扰算法的解耦控制方法。首先，根据系统原理建立了负载敏感系统的状态空间模型。其次，针对阀控和泵控子系统分别设计了位置自抗扰控制器（ADRC）和压力自抗扰控制器，将2个系统间的动态耦合作用以及外部干扰和不确定性视作总扰动进行估计并给予补偿。最后，基于AMESim和MATLAB联合仿真平台进行了仿真分析。结果表明：所提的控制方法能够消除阀控子系统和泵控子系统的强耦合作用，提高系统的控制精度和鲁棒性。另外，在动态性能和节能效率方面与纯阀控和泵控系统进行对比分析，仿真结果表明：基于自抗扰控制的负载敏感系统的动态性能优于泵控系统，系统能效相对于阀控系统也有较大提升。
- 泵阀协调控制系统 /
- 电液负载敏感 /
- 自抗扰控制器(ADRC) /
- 扩张状态观测器(ESO) /
- 液压伺服系统
Abstract:
To deal with the strong interaction between position loop and pressure loop in the electro-hydraulic load sensing control system, we propose a decoupling strategy based on Active Disturbance Rejection Control (ADRC) in this paper. First, according to the equation expressions built by theoretical analysis, the stale space mode model of the load sensing control system was established. Then, position ADRC controller and pressure ADRC controller are designed to control piston position and pump pressure independently. The dynamic interaction between the position loop and pressure loop, external disturbances and uncertainties are treated as total disturbances, which were compensated by ADRC controller. Finally, co-simulation experiment was conducted by using MATLAB and AMESim. The simulation results show that the proposed control strategy can eliminate the strong interaction between the position loop and pressure loop, and improve the control accuracy and robustness of the system. In addition, the dynamic performance and energy-saving efficiency are compared with those of valve-controlled and pump-controlled systems. The simulation results show that the dynamic performance of the load sensing system based on ADRC is better than that of the pump-controlled system, and the energy efficiency is also greatly improved compared with the valve-controlled system.
- pump-value coordinated control system /
- electro-hydraulic load sensing /
- Active Disturbance Rejection Control (ADRC) /
- Extended State Observer (ESO) /
- hydraulic servo mechanism

HTML全文

图 1 电液负载敏感位置伺服系统结构

Figure 1. Structure of electro-hydraulic load sensingposition servo system

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图 2 自抗扰控制器结构

Figure 2. Structure of ADRC

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图 3 负载敏感系统控制框图

Figure 3. Control block diagram of load sensing system

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图 4 一阶压力自抗扰控制器结构

Figure 4. Structure of first-order pressure ADRC

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图 5 二阶位置自抗扰控制器结构

Figure 5. Structure of second-order position ADRC

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图 6 MATLAB/Simulink和AMESim联合仿真模型

Figure 6. MATLAB/Simulink and AMESim co-simulation model

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图 7 无干扰力情况下的正弦响应

Figure 7. Sinusoidal response without disturbing force

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图 8 加入正弦干扰力的正弦响应

Figure 8. Sinusoidal response with sinusoidal disturbing force

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图 9 参数发生变化后的正弦响应

Figure 9. Sinusoidal response after parameter variation

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图 10 3种系统对比仿真结果

Figure 10. Comparison and simulation results of three systems

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表 1 系统仿真参数

Table 1. System simulation parameters

参数	数值
P_r/Pa	0
A_p/m²	6.4×10^-4
C_pl/m³·s^-1·Pa^-1	8.33×10^-12
m/kg	10
B/(N·(m·s^-1))	500
D_p/(m³·r^-1)	2×10^-5
ρ/(kg·m^-3)	850
β_e/bar	7 000
_p	20
ω_po	1 000
ω_pc	500
b_v	7
ω_vo	900
ω_po	300
注：1bar=100kPa。

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