基于模型信息的电静液作动器降阶线性自抗扰控制
作者:
作者单位:

1.火箭军工程大学;2.火箭军士官学校

作者简介:

通讯作者:

中图分类号:

TP273

基金项目:

陕西省自然科学基金


Reduced Order Linear Active Disturbance Rejection Control Based on Model Information of Electro-hydrostatic Actuator
Author:
Affiliation:

1.Rocket Force University of Engineering;2.Rocket Force Sergeant Academy

Fund Project:

Shaanxi Natural Science Foundation

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    摘要:

    针对电静液作动器系统存在内外部扰动、参数不确定性和变控制增益等问题,提出一种基于模型信息的降阶线性自抗扰位置控制方法.首先,基于系统模型信息选取控制增益.其次,通过降阶线性扩张观测器对系统总扰动进行估计,并在控制器中加入扰动项进行补偿.利用奇异摄动理论证明了所提控制器下闭环系统是半全局最终一致有界的,并且当观测器带宽足够大时,所提出的控制器可以使系统输出以任意精度跟踪所需的轨迹.仿真结果表明,所提控制方法响应速度较快,控制精度较高,对外部扰动和参数不确定性具有较强的鲁棒性.

    Abstract:

    In order to solve the problem of internal and external disturbance, parameter uncertainties and variable control gains in the electro-hydrostatic actuators (EHAs) system, a reduced order linear active disturbance rejection position control method based on model information is proposed. Firstly, the control gain is selected based on the system model information. Secondly, the total disturbance in EHAs system are estimated by the reduced order linear extended state observe (ESO), and the total disturbance compensations are added in a controller to eliminate the influence of external disturbance and parameter uncertainties. By using singular perturbation theory, it is proved that the closed-loop system is semiglobally uniformly ultimately bounded, and the proposed controller can make the position track the desired trajectory with any desired accuracy as the bandwidth of ESO becomes sufficiently high. The simulation results show that the proposed method has fast response speed, high control precision, and strong robustness to external disturbances and parameter uncertainties.

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历史
  • 收稿日期:2021-07-30
  • 最后修改日期:2021-12-14
  • 录用日期:2021-12-30
  • 在线发布日期: 2022-02-01
  • 出版日期: