基于气体静压运动平台的自抗扰控制仿真分析与实验研究
Active disturbance rejection control based on aerostatic pressure moving platform simulation analysis and experimental research
周昊洋 1卢志伟 1李浩 1赵康 1刘锡尧 1张君安1
作者信息
- 1. 西安工业大学机电工程学院,陕西 西安 710021
- 折叠
摘要
为了进一步提高气体静压运动平台的稳定性以及抗干扰性能,针对气体静压运动平台自身存在的扰动对其控制算法进行研究.文章提出了一种PD控制与线性扩张状态观测器相结合的自抗扰控制算法,在Matlab/Simulink中搭建了控制模型进行仿真分析,并搭建平台进行实验验证.利用该算法解决了传统PID控制算法在气体静压运动平台存在的扰动问题.结果表明:相比于传统PID控制算法,自抗扰控制算法能够有效减小跟踪误差,降低超调,并且提高了气体静压运动平台的抗干扰性能.
Abstract
In order to further improve the stability and anti-interference performance of the aerostatic platform,the control algorithm of the aerostatic platform is studied according to the disturbance existing in the platform itself.This paper proposes an auto-disturbance rejection control algorithm combining PD control and linear extended state observer.The control model is built in Matlab/Simulink for simulation analysis,and the platform is built for experimental verification.This algorithm solves the disturbance problem of the traditional PID control algorithm in the gas static pressure moving platform.The results show that compared with the traditional PID control algorithm,the active disturbance rejection control algorithm can effectively reduce the tracking error,reduce the overshoot,and improve the anti-interference performance of the aerostatic movement platform.
关键词
气体静压运动平台/自抗扰控制/直线电机/扰动抑制Key words
aerostatic movement platform/active disturbance rejection control/linear motion/disturbance attenuation引用本文复制引用
基金项目
国家自然科学基金(52301101)
陕西省科技厅项目(2024GX-YBXM-217)
陕西省教育厅项目(23JC040)
西安市科技局项目(21XJZZ0025)
西安市碑林区项目(GX2220)
出版年
2024
NETL
NSTL
万方数据