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基于双层CESO的电液伺服系统线性自抗扰控制

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针对含高频噪声的阀控非对称缸不确定扰动抑制问题,采用扰动频率分层技术,利用线性扩张状态观测器低通滤波特性以及扰动估计速度和精度与带宽取值正相关性的特点,提出一种基于双层级联扩张状态观测器的阀控非对称缸电液伺服系统线性自抗扰方法.在分析双层级联线性扩张状态观测器稳定性基础上,与传统线性自抗扰控制方法进行了仿真对比研究.仿真结果表明:该控制方法继承了传统自抗扰控制优点,提高了不确定扰动估计速度和精度,有效抑制了含高频测量噪声不确定扰动带来的不利影响,可实现阀控非对称缸电液伺服系统的高性能控制.
Active Disturbance Rejection Control of Electro-Hydraulic Servo System Based on Two-Layer CESO
In order to suppress the uncertain disturbance of valve-controlled asymmetric cylinder with high frequency noise,a line-ar active disturbance rejection control method for valve-controlled asymmetric cylinder electro-hydraulic servo system based on two-layer cascade extended state observer was proposed.It was realized by the low-pass filter characteristics and the positive correlation be-tween the estimated speed & accuracy and the bandwidth value of the linear extended state observer.On the basis of analyzing the sta-bility of the two-layer cascade linear extended state observer,the comparison simulation with the traditional linear active disturbance re-jection control method was carried out.The simulation results show that the proposed control method inherits the advantages of tradition-al active disturbance rejection control,the estimation speed and accuracy for uncertain disturbance are improved,the adverse effect of uncertain disturbance with high frequency measurement noise is effectively inhibited,and high performance control of valve-controlled asymmetrical cylinder electro-hydraulic servo system can be realized.

valve-controlled asymmetrical cylinderelectro-hydraulic servo systemlinear active disturbance rejection controlcascade extended state observerhigh-frequency measurement noise

贾雁、金坤善、张井岗、李宇翔、曹继贤

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太原科技大学电子信息工程学院,山西太原 030024

太原科技大学,金属材料成形理论与技术山西省重点实验室,山西太原 030024

阀控非对称缸 电液伺服系统 线性自抗扰控制 级联扩张状态观测器 高频测量噪声

国家自然科学基金面上项目太原科技大学博士科研启动基金项目太原科技大学研究生教育改革项目太原科技大学研究生教育创新项目

5217505720202043SY2022022JG2022014

2024

10.3969/j.issn.1001-3881.2024.15.027

机床与液压
中国机械工程学会 广州机械科学研究院有限公司

机床与液压

CSTPCD北大核心
影响因子：0.32
ISSN：1001-3881
年,卷(期)：2024.52(15)