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为提高控制系统的鲁棒性,增强干扰抑制能力,提出了适用于气压伺服系统的自抗扰控制器方案,并讨论了控制参数的整定.自抗扰控制器为非线性控制器,由跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律3部分构成.扩张状态观测器可以实时观测系统状态和扩张状态,从而实现全状态反馈及系统不确定性和外扰的补偿控制.自抗扰控制器的设计不依赖于被控系统的精确数学模型,并对内外扰有较强的抑制能力,在整个系统工作区间都有良好的鲁棒性.仿真结果表明,自抗扰控制器对气动伺服系统模型的不确定性以及外干扰的鲁棒性较好,且具有较优的动态性能.
In order to improve the robustness of the control system and enhance the interference suppression capability, a scheme of ADRC controller suitable for pneumatic servo system is proposed and the tuning of control parameters is discussed. The ADRC controller is a nonlinear controller, The differentiator, the extended state observer and the nonlinear state error feedback control law.The extended state observer can observe the state of the system and the state of expansion in real time, so as to realize the state feedback and the compensation of the system uncertainty and the disturbance. The design of anti-jamming controller does not depend on the accurate mathematical model of the controlled system and has a strong ability to restrain both internal and external disturbances and has good robustness over the whole system working period.The simulation results show that the ADRC The uncertainty of the pneumatic servo system model and the robustness of the external disturbance are good, and have better dynamic performance.