ADRC for Electro-hydraulic Position Servo Systems Based on Dead-zone Compensation#br#

doi:10.3969/j.issn.1004-132X.2021.12.006

Abstract

Abstract: Aiming for the problems of proportional valve dead-zone, parametric uncertainties, and unknown external disturbances in electro-hydraulic position servo control systems, a cascade controller which was composed of ADRC and dead-zone inverse compensation was designed. Firstly, the valve dead-zone was pre-compensated by an inverse model which was established based on experimental identification. Then, according to the characteristics of the system, the first-order ADRC was designed. “general disturbances” were estimated by an improved ESO and compensated by a nonlinear control law in real-time. The results of co-simulation and experiments show that the proposed cascade controller effectively compensates the proportional valve dead-zone, improves dynamic performances and position tracking accuracy of the system.

Key words: hydraulic system, dead-zone, active disturbance rejection control(ADRC), extended state observer(ESO)

摘要： 针对电液位置伺服控制系统的比例阀死区、参数不确定及外部未知扰动等问题，设计了由自抗扰控制器与死区逆补偿构成的串联控制器。首先基于实验辨识构造死区逆模型对死区进行预补偿，然后根据系统特性设计了一阶自抗扰控制器，构造改进的扩张状态观测器对“总扰动”进行实时估计，并通过非线性控制律给予主动补偿。联合仿真与试验结果表明，所提出的串联控制器有效地补偿了比例阀死区，提高了系统动态性能和位置跟踪精度。

关键词: 液压系统, 死区, 自抗扰控制, 扩张状态观测器

CLC Number:

TP273

WANG Lixin, ZHAO Dingxuan, LIU Fucai, LIU Qian, ZHANG Zhuxin. ADRC for Electro-hydraulic Position Servo Systems Based on Dead-zone Compensation#br#[J]. China Mechanical Engineering, 2021, 32(12): 1432-1442.

王立新, 赵丁选, 刘福才, 刘谦, 张祝新. 基于死区补偿的电液位置伺服系统自抗扰控制[J]. 中国机械工程, 2021, 32(12): 1432-1442.

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