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针对电气比例阀控气动加载系统压力跟踪控制存在系统参数不确定性、时滞性、强耦合等非线性问题,提出一种非线性自抗扰控制(ADRC)方法.首先建立电气比例阀控气动加载系统的动态机理模型;然后,在考虑外部存在未知扰动及负载波动等情况下,设计扩张状态观测器以对系统的耦合项及外部扰动等不确定项进行估计,并采用非线性误差反馈律给予实时主动补偿,从而实现系统加载压力的实时控制.仿真和实验结果表明,在ADRC控制下系统不仅具有良好的跟踪性能,响应速度快,抗干扰能力强,而且在工程上易于实现.
Aiming at the nonlinearity problem of the pressure tracking control of pneumatic proportional valve controlled pneumatic loading system, such as system parameters uncertainty, time delay and strong coupling, a nonlinear ADRC method is proposed.At first, the electrical proportional valve controlled pneumatic Then the dynamic state model of the system is loaded. Then, considering the existence of unknown external disturbances and load fluctuations, an extended state observer is designed to estimate the uncertainties such as the coupling term and external disturbance. The nonlinear error feedback law The real-time control of system loading pressure is realized by real-time compensation, and simulation and experimental results show that the system not only has good tracking performance under ADRC control, but also has fast response speed, strong anti-interference ability and is easy to realize in engineering.