基于线性自抗扰的伺服电缸反向间隙控制
Research Clearance Control of Servo Electric Cylinder Based on Linear Active Disturbance Rejection
王峰 1王平 1邹俊逸1
作者信息
- 1. 武汉科技大学汽车与交通工程学院,武汉 430081
- 折叠
摘要
针对伺服电缸加载过程中出现的反向间隙问题,提出了线性自抗扰控制器(LADRC)的解决方案.搭建全闭环伺服电缸控制系统试验平台,完成位置环PID控制器控制下,反向间隙的测量;以伺服电缸控制系统位置环为控制对象,通过MATLAB/Simulink仿真和试验分析,将线性自抗扰控制器与位置环PID控制器进行对比.研究表明,相比较PID控制器,线性自抗扰控制器在阶跃信号和正弦信号作用下,调节时间短、超调量小,动态跟踪误差下降明显.针对伺服电缸存在的反向间隙造成的输出滞后问题,线性自抗扰控制器性能优于PID控制器,更加满足压装工艺的需求.
Abstract
In the face of the problem of reverse clearance in the loading process of servo electric cylinder,a solution of linear active disturbance rejection controller was proposed.a test platform for the fully closed-loop servo electric cylinder control system was built to complete the measurement of reverse clearance un-der the control of position loop PID controller;Taking the position loop of the servo electric cylinder control system as the control object,the linear active disturbance rejection controller is compared with the position loop PID controller through MATLAB/Simulink simulation and test analysis.The research shows that:Compared with PID controller,linear active disturbance rejection controller has short adjustment time,small overshoot and obvious reduction of dynamic tracking error under the action of step signal and sinusoidal signal.The performance of linear active disturbance rejection controller is better than PID controller,which can meet the demand of press assembly process.
关键词
反向间隙/伺服电缸系统/位置环/线性自抗扰Key words
reverse gap/servo electric cylinder system/position loop/linear active disturbance rejection引用本文复制引用
基金项目
湖北省教育厅科研项目青年项目(Q20191107)
柳州市中小企业创新创业升级专项(柳高新[2019]9号-2)
出版年
2024
NETL
NSTL
万方数据