CN108958023A - A kind of electro-hydraulic position servo control system, terminal, storage medium - Google Patents
A kind of electro-hydraulic position servo control system, terminal, storage medium Download PDFInfo
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Abstract
The present invention discloses a kind of electro-hydraulic position servo control system, terminal, storage medium.The linear active disturbance rejection control method that electro-hydraulic position servo control system uses, according to electro-hydraulic position servo system mathematical model, in linear automatic disturbance rejection controller, by the collective effect of Tracking Signal Generator, linear extended state observer and state feedback controller, pass through the current displacement and current dynamic Active Compensation control law of input, obtain the dynamic Active Compensation control law of subsequent time, and the numerical value is inputed into proportioning valve, such loop cycle is realized and is compensated the real-time dynamic always disturbed.The present invention solves the problems, such as that pid parameter adjusting is difficult, overcomes non-linear, the uncertain influence to control system performance.
Description
Technical field
The present invention relates to electro-hydraulic position servo control technical fields, and in particular to a kind of electro-hydraulic position servo control system,
Terminal, storage medium.
Background technique
There are the dead zone of valve in electro-hydraulic position tracking control system, flow pressure, frictional force, controller saturation etc. are non-thread
Property, the structure asymmetry of the uncertainty of Internal system parameters and load, especially cylinder will lead to positive and negative stroke open loop
The asymmetry of gain and dynamic characteristic, above-mentioned characteristic is to high-performance electro-hydraulic position servo control band huge challenge.And it improves
The interference rejection ability of system realizes that electro-hydraulic position servo system high precision and fast response is always the target that Engineering Control is pursued.
Many scholars, the disturbance observer control method based on mathematical models using system input, export and be
System characteristic designs disturbance observer, and real-time estimation and dynamic compensate the external disturbance for the system that is applied to, to reduce non-linear disturb
It moves and is adversely affected to system bring.But restricted by factors such as mechanical structure, volume and costs, often only piston displacement can
It directly measures, to increase the design difficulty of disturbance observer.For uncertainty existing for system, numerous experts and scholars are again
The control methods such as feedback linearization, self adaptive control, robust control, variable-structure control are proposed, and controller parameter is carried out
Rigorous mathematical theory is deduced, and the robustness and control precision of system are in a way improved.However, the control of these systems
The problems such as performance processed depends on the precision of mathematical model, easily causes unmatched models when mechanics of system performance changes,
Control performance is caused to decline or even unstable.
The fragility and system mode relied in view of model is not easy availability, so that the tradition based on error negative-feedback
PID control occupies always leading position in industrial control field, as shown in Figure 1, traditional PID control is by electro-hydraulic position servo system
Unite 2 output shift quantity y, and by the controller 1 of the displacement y input system of acquisition, displacement y and system are inputted in controller 1
Expectation shift value v1It makes comparisons, obtained error amount e1Respectively multiplied by proportionality coefficient kp, integral coefficient kIWith differential coefficient kd, then
Obtain the PID control rule based on offset deviationGained u value is exported to electro-hydraulic position again
Servo-system 2 controls the movement of electro-hydraulic position servo system 2 with this.But the lag of PID control effect is also easy to produce hyperharmonic vibration
The defects of swinging, reducing stiffness of system makes it be applied to the electro-hydraulic position servo with nonlinearity and dynamic uncertainty
System is difficult to realize high performance control requirement.
Summary of the invention
For the actual demand of High Precision Hydraulic Servo Position Control, the present invention proposes a kind of electro-hydraulic position servo control system
System, terminal, storage medium.The present invention designs linear extended state observer (Linear using system input and output
Extended State Observer, LESO), it realizes and the real-time dynamic always disturbed is compensated.
The present invention is implemented with the following technical solutions, a kind of electro-hydraulic position servo control system include proportioning valve, hydraulic cylinder,
Linear active disturbance rejection controller (Linear Active Disturbance Rejection Control, LADRC)；Proportioning valve root
According to the piston displacement of dynamic Active Compensation control law control hydraulic cylinder；Linear active disturbance rejection controller works as secondary piston according to hydraulic cylinder
The current dynamic Active Compensation control law u for being displaced y and proportioning valve input carries out data processing, obtains expectation state Feedback Control Laws
The close loop negative feedback of u ', u ' realization electro-hydraulic position servo control system controls, and the linear active disturbance rejection controller includes sampling mould
Block, linear extended state observer building module, feedback controller construct module；
The sampling module is for sampling y and u；
The linear extended state observer building module is used to construct linear extended state observer, and described in parametrization
Observer comprising step:
(I) linear extended state observer is constructed according to y and u, met:
Wherein,For the state square of linear extended state observer
Battle array；For the state vector of linear extended state observer, andFor linear expansion shape
State observer input matrix, wherein b0It represents before electro-hydraulic position servo system to the estimated value of input channel control gain b；For the gain matrix of linear extended state observer, ω o is the bandwidth of linear extended state observer；
For piston displacement observation；For the output matrix of linear extended state observer；
(II) rightLine integral obtains For piston displacement observation；For piston operation
The observation of speed；For the estimated value for being applied to the comprehensive disturbance of system；
(III) linear expansion observer state vectorMultiplied by matrix E, total disturbance f (y, d, the P that are applied to system are obtained1,
P2, u) estimated valueWherein
The state feedback controller building module is for constructing and parameterizing state feedback controller comprising step:
(I) willWith v1It is compared and obtains e1, willWith v2It is compared and obtains e2,
Wherein, v1It is expected to be displaced for piston, v2For piston desired speed, e1For piston displacement tracking error value, e2For piston
Speed of service error amount；
(II) obtaining, there is the state feedback PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor state feedback controller bandwidth；v3Acceleration it is expected for piston；
(III) u ' is obtained:
As a further improvement of the foregoing solution, according to formula b=γ βe(R1A1/V1+R2A2/V2)/BpEstimate b0, it is true
Control performance is protected, b must be met0B > 0, and
Wherein,
Wherein, V10、V20For rodless cavity, rod chamber original volume；A1For rodless cavity piston area, A2For rod chamber piston area
Product；kv> 0 is proportioning valve gain；CdFor valve port flow coefficient；ω is proportioning valve area gradient；ρ is oil liquid density；βeFor oil liquid
Elasticity modulus；BpFor viscous friction coefficient, PsFor charge oil pressure, PrFor return pressure；P1For rodless cavity pressure, P2For rod chamber pressure
Power.
Further, in known b0Under conditions of, determine optimum linearity extended state observer bandwidth omegao；Optimum linearity expands
Open state observer bandwidth omegaoMethod of determination are as follows: according to dynamic response requirement, especially the stabilization of input Setting signal when
Between, primarily determine state feedback controller bandwidth omegacAnd it remains unchanged；Within measurement noise and sampling rate allowed band,
Choose linear extended state observer bandwidth omegaoInitial value ωo=ωc, incrementally increase ωoValue, ωoBigger linear extended state
Observer is faster to the status tracking speed comprising always disturbing, but after arriving at a certain upper dividing value, linear extended state observer with
ωoThe high frequency measurement noise filtering ability decline to sensor is continued growing, status tracking precision is reduced instead, needed back at this time
Adjust ωoValue, ωoValue in (5~10) ωcVariation in range, untilUntil meeting expectation quality, bandwidth omega at this timeo
As optimal bandwidth omegao。
Still further, determining optimal state feed-back control device bandwidth omegac: in known b0AndMeet the item of expectation quality
Under part, ω is keptoIt is constant, enlarging state feedback controller bandwidth omegac, ωcThe response speed of the bigger system of value is faster, stable state
Error is smaller, but stability margin reduces, therefore ωcValue according to system be actually needed between rapidity and stability carry out
Compromise.
As a further improvement of the foregoing solution, when constructing state feedback controller, using Tracking Signal Generator root
V is obtained according to the dynamic and static performance indices of given input signal v and electro-hydraulic position servo control system1、v2、v3。
As a further improvement of the foregoing solution, linear active disturbance rejection controller further includes Tracking Signal Generator；Tracking letter
Number generator is used for using its differential signal as the feed-forward signal input system of control system.
As a further improvement of the foregoing solution, the electro-hydraulic position servo control system further include: filter, motor,
Hydraulic pump, overflow valve, load, linear displacement transducer, analog-digital converter and digital analog converter；
The oil inlet end of hydraulic pump is connected to the oil outlet of filter；Motor is connect with hydraulic pump driving；The oil inlet of proportioning valve
End is connected to the oil outlet of hydraulic pump；The oil inlet of overflow valve is connected on the access of hydraulic pump and proportioning valve；Hydraulic cylinder with than
The oil outlet connection of example valve；Load is mounted on the one end of hydraulic cylinder piston rod far from piston；Linear displacement transducer is mounted on negative
The side of load, for detecting the displacement of load；Controller is connect with linear displacement transducer and proportioning valve respectively, in controller
Analog-digital converter is set between linear displacement transducer, digital analog converter is set between controller and proportioning valve.
The present invention also provides a kind of terminals comprising memory, processor and is stored on the memory
And the computer program that can be run on the processor, the processor realize following steps when executing described program:
Step 1 samples y and u；
Step 2 constructs linear extended state observer, and parameterizes the observer comprising step:
(I) linear extended state observer is constructed according to y and u, met:
Wherein,For the state square of linear extended state observer
Battle array；For the state vector of linear extended state observer, andFor linear expansion shape
State observer input matrix, wherein b0Represent the estimated value of input channel control gain b；For linear extended state
The gain matrix of observer, ωoFor the unique bandwidth to setting parameter observer of linear extended state observer；For work
Fill in displacement observation value；For the output matrix of linear extended state observer；
(II) rightLine integral obtains For piston displacement observation；Speed is run for piston
The observation of degree；For the comprehensive disturbance estimated value for being applied to system；
(III) linear expansion observer state vectorMultiplied by matrix E, total disturbance f (y, d, the P that are applied to system are obtained1,
P2, u) estimated valueWherein
Step 3 constructs and parameterizes state feedback controller comprising step:
(I) willWith v1It is compared and obtains e1, willWith v2It is compared and obtains e2,
Wherein, v1It is expected to be displaced for piston, v2The speed of service, e it is expected for piston1For piston displacement tracking error value, e2For
Piston speed of service error amount；
(II) obtaining, there is the state feedback PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor state feedback controller bandwidth；v3Expectation acceleration is run for piston；
(III) u ' is obtained:
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, and described program is located
When managing device execution, following steps are realized:
Step 1 samples y and u；
Step 2 constructs linear extended state observer, and parameterizes the observer comprising step:
(I) linear extended state observer is constructed according to y and u, met:
Wherein,For the state square of linear extended state observer
Battle array；For the state vector of linear extended state observer, andFor linear expansion shape
The input matrix of state observer, wherein b0Represent the estimated value of input channel control gain b；For linear expansion
The gain matrix of state observer, ωoFor the bandwidth of linear extended state observer；For piston displacement observation；For the output matrix of linear extended state observer；
(II) rightLine integral obtains For piston displacement observation；Speed is run for piston
The observation of degree；To be applied to the comprehensive disturbance estimated value of system；
(III) linear expansion observer state vectorMultiplied by matrix E, total disturbance f (y, d, the P that are applied to system are obtained1,
P2, u) estimated valueWherein
Step 3 constructs and parameterizes state feedback controller comprising step:
(I) willWith v1It is compared and obtains e1, willWith v2It is compared and obtains e2,
Wherein, v1It is expected to be displaced for piston, v2The speed of service, e it is expected for piston1For piston displacement tracking error value, e2For
Piston speed of service error amount；
(II) obtaining, there is the state feedback PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor state feedback controller bandwidth；v3It is expected to run acceleration for piston；
(III) u ' is obtained:
As a further improvement of the foregoing solution, in known b0Under conditions of, determine optimum linearity extended state observer
Bandwidth omegao；Optimum linearity extended state observer bandwidth omegaoMethod of determination are as follows: according to dynamic response requirement, especially input
The stabilization time of Setting signal, primarily determine state feedback controller bandwidth omegacAnd it remains unchanged；In measurement noise and sampling speed
Within rate allowed band, linear extended state observer bandwidth omega is chosenoInitial value ωo=ωc, incrementally increase ωoValue, ωo
Bigger linear extended state observer is faster to the status tracking speed comprising always disturbing, but after a certain upper dividing value of arrival, linearly
Extended state observer is with ωoIt continues growing and high-frequency signal filter capacity is declined, the high frequency measurement noise of sensor will be by
It introduces, status tracking precision reduces instead, needs readjustment ω at this timeoValue, ωoValue in (5~10) ωcVariation in range, directly
ExtremelyUntil meeting expectation quality, bandwidth omega at this timeoAs optimal bandwidth omegao。
The present invention combines modern control theory state-space method with the zero-pole assignment method of Classical control theory,
System modelling uncertainty and unmodeled uncertainty are collected as " comprehensive disturbance ", utilize system input and output design is linear to expand
State observer is opened, realizes and the real-time dynamic always disturbed is compensated.The control method gets rid of the dependence to mathematical models,
The marrow for inheriting PID control technology solves differential parameter adjusting difficulty, overcomes non-linear, uncertain to control system
The influence for performance of uniting.
Detailed description of the invention
Fig. 1 is conventional PID controller structure chart.
Fig. 2 is a kind of electro-hydraulic position servo control system construction drawing of the present invention.
Fig. 3 is linear active disturbance rejection controller structure diagram.
Fig. 4 is that piston displacement responds when inputting 0.14sin (2 π 0.27*t) sinusoidal signal in Fig. 1 and Fig. 3 system
Simulation result.
Fig. 5 is that piston displacement tracks when inputting 0.14sin (2 π 0.27*t) sinusoidal signal in Fig. 1 and Fig. 3 system
Error simulation result.
Fig. 6 is that Fig. 1 and Fig. 3 system is applied to the comprehensive of system when inputting 0.14sin (2 π 0.27*t) sinusoidal signal
Close disturbance.
Fig. 7 is piston displacement simulation result when Fig. 3 system inputs the fixed signal for giving 0.14m.
Fig. 8 is piston displacement simulation result when Fig. 1 system inputs the fixed signal for giving 0.14m.
Fig. 9 is piston displacement tracking error simulation result when Fig. 3 system inputs the fixed signal for giving 0.14m.
Figure 10 is piston displacement tracking error simulation result when Fig. 1 system inputs the fixed signal for giving 0.14m.
The comprehensive of system is applied to when Figure 11 is Fig. 1 and Fig. 3 system inputs the fixed signal of given 0.14m to disturb.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, to this
Invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.
Embodiment 1
Please refer to figs. 2 and 3, and the present embodiment provides a kind of linear active disturbance rejection controlling parties of electro-hydraulic position servo control system
Method.The electro-hydraulic position servo control system includes proportioning valve 4, hydraulic cylinder 6.Proportioning valve 4 is according to dynamic Active Compensation control law
6 piston displacement of hydraulic cylinder of control, the linear active disturbance rejection control (Linear Active Disturbance Rejection
Control, LADRC) the current dynamic Active Compensation control that is inputted according to the current piston displacement y and proportioning valve 4 of hydraulic cylinder 6 of method
System rule u carries out data processing, and the closed loop for obtaining expectation state Feedback Control Laws u ', u ' realization electro-hydraulic position servo control system is negative
Feedback control
The linear active disturbance rejection control method of the present embodiment includes the following steps.
(I) according to electro-hydraulic position servo system mathematical model, following linear extended state observer (Linear is obtained
Extended State Observer, LESO) 13 equations,
Wherein,For LESO state matrix,For LESO input matrix,For
LESO output matrix,For LESO gain matrix,For LESO13 state vector,ForFirst derivative, ω
O is uniquely to setting parameter LESO bandwidth, and u is current dynamic Active Compensation control law, and y is the current displacement of piston.
(II) rightIntegral obtainsWherein,Piston displacement observation is represented,It represents and lives
Speed of service observation is filled in,Represent the comprehensive disturbance estimated value for the system that is applied to.
(III) willWith v1It is compared, incites somebody to actionWith v2It is compared, obtains error amount e respectively1、e2:
Wherein, v1、v2And v3It is generated by Tracking Signal Generator 12, v1Represent the desired value of piston displacement y, v2It represents
The desired speed of piston operation, e1Represent piston displacement tracking error value, e2Represent the error amount of the piston speed of service.
(IV) according to above-mentioned steps, obtaining, there is the PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor 14 bandwidth of state feedback controller, kp、kdRepresentation parameter gain system
Number, v3Represent the expectation acceleration of output y.
(V) willMultiplied by E, total disturbance the f () estimated value for the system that is applied to is obtainedWherein,(VI) it obtains
Dynamic Active Compensation control law u ' is obtained,
Wherein, b0For the estimated value for controlling gain.
It enablesAccording to formula b=γ βe(R1A1/V1+R2A2/V2)/BpObtain control gain b's
Estimated value b0, for the control performance for protecting true electro-hydraulic position servo system, b must be met0B > 0, and
Wherein,
V10、V20For rodless cavity, rod chamber original volume；A1For rodless cavity piston area, A2For rod chamber piston area；y
For piston displacement；kv> 0 is 4 gain of proportioning valve；CdFor valve port flow coefficient；ω is 4 area gradient of proportioning valve；ρ is that oil liquid is close
Degree；βeFor oil liquid elasticity modulus；BpFor viscous friction coefficient, PsFor charge oil pressure, PrFor return pressure；P1For rodless cavity pressure,
P2For rod chamber pressure.
(VII) u=u ' is enabled, the step of step (I) arrives (VII) is repeated.
In above-mentioned steps, in known b0Under conditions of, according to dynamic response requirement, especially input Setting signal is steady
It fixes time, primarily determines 14 bandwidth omega of state feedback controllercAnd it remains unchanged；Within measurement noise allowed band, simultaneously
Influence in view of sample delay to control performance, for ensure LESO 13 can THE FAST TRACKING SYSTEM FOR disturbance variation, realize to applying
It is added on the inhibition of the comprehensive disturbance of system, chooses 13 bandwidth omega of LESOoInitial value ωo=ωc, incrementally increase 13 bandwidth of LESO
ωo, ωoBigger LESO is faster to the status tracking speed comprising comprehensive disturbance, but after arriving at a certain critical value, LESO 13 with
Bandwidth omegaoIt continues growing, LESO 13 reduces high-frequency signal filter capacity, and the high frequency measurement noise of sensor will be introduced into, shape
State tracking accuracy reduces instead, needs readjustment 13 bandwidth omega of LESO at this timeoValue, usual ωoValue in (5~10) ωcModel
Interior variation is enclosed, untilUntil meeting expectation quality, bandwidth omega at this timeoAs optimal bandwidth omegao。
In known b0, and LESO13 state vectorIn the state of meeting expectation quality, ω is keptoIt is constant, it is gradually increased anti-
Present 14 bandwidth omega of devicec, obtain optimal ωcValue.
Embodiment 2
The present embodiment discloses a kind of linear active disturbance rejection control method of electro-hydraulic position servo control system, the electro-hydraulic position
Servo-control system includes proportioning valve, hydraulic cylinder, controller.
Controller exports dynamic Active Compensation control law to proportioning valve, and proportioning valve is according to the dynamic Active Compensation control law
Control the piston displacement of hydraulic cylinder.The linear active disturbance rejection control method is according to the current piston displacement y and controller of hydraulic cylinder
The current dynamic Active Compensation control law u of output carries out data processing, obtains the desired dynamic Active Compensation control of controller output
System rule u ', u ' realization control the close loop negative feedback of electro-hydraulic position servo system, and the linear active disturbance rejection control method includes step
Suddenly.
Step 1 samples y and u.
Step 2 constructs linear extended state observer (Linear Extended State Observer, LESO),
Include the following steps.
(I) according to y and u building line and parametrization property extended state observer Meet:
Wherein,For LESO state matrix；For LESO state vector, andFor LESO input matrix, b0 represents electro-hydraulic position servo system forward path control
The estimated value of gain b processed；For LESO gain matrix, ω o is LESO bandwidth；For LESO output vector, andFor displacement observation value；For LESO output matrix.
According to formula b=γ βe(R1A1/V1+R2A2/V2)/BpEstimate b0, to ensure control performance, b must be met0B >
0, and
Wherein,
V10、V20For rodless cavity, rod chamber original volume；A1For rodless cavity piston area, A2For rod chamber piston area；y
For load displacement；kv> 0 is the gain of proportioning valve 4；CdFor valve port flow coefficient；ω is the area gradient of proportioning valve 4；ρ is oil liquid
Density；βeFor oil liquid elasticity modulus；BpFor viscous friction coefficient, PsFor charge oil pressure, PrFor return pressure；P1For rodless cavity pressure
Power, P2For rod chamber pressure.
System parameter b0、ωc、ωoAdjusting rule carry out as follows:
1. according to the physical meaning and value of real system parameter, according to b=γ β in formula (2)e(R1A1/V1+R2A2/
V2)/BpEstimate control gain b0, b0Value must meet b0b > 0,
2. determining linear extended state observer bandwidth omegao.On the basis of 1., according to dynamic response requirement, especially
The stabilization time for inputting Setting signal, primarily determine state feedback controller bandwidth omegacAnd it remains unchanged；In measurement noise and adopt
It within sample rate allowed band, while considering influence of the sample delay to control performance, is to ensure that LESO can be tracked quickly
The variation that system always disturbs is realized to the inhibition of the comprehensive disturbance of system, chooses LESO bandwidth omegaoInitial value ωo=ωc, it is gradually increased
ωoValue, ωoBigger LESO is faster to the status tracking speed comprising always disturbing, but after arriving at a certain critical value, LESO with
ωoContinuing growing reduces high-frequency signal filter capacity, and the high frequency measurement noise of sensor will be introduced into, status tracking precision
It reduces instead, needs readjustment ω at this timeoValue, usual ωoValue in (5~10) ωcVariation in range, untilMeet expectation essence
Until degree, bandwidth omega at this timeoAs optimal bandwidth omegao,
3. determining state feedback controller bandwidth omegac.B is kept on the basis of 1. 2.0、ωoIt is constant, it is anti-to be gradually increased state
Present controller bandwidth omegac, ωcThe response speed of the bigger system of value will be faster, and steady-state error is smaller, but stability margin can drop
It is low.Therefore ωcValue needs necessary compromise is carried out between rapidity and stability.
(II) rightLine integral obtains For piston displacement observation；Speed is run for piston
Spend observation；F (y, d, P are always disturbed to be applied to system1,P2, u) estimated value.
(III) rightMultiplied by coefficient E, obtain always disturbing f (y, d, P1,P2, u) estimated value
Step 3 constructs state feedback controller comprising step.
(I) willWith v1It is compared and obtains e1, willWith v2It is compared and obtains e2,
Wherein, v1It is expected to be displaced for piston, v2The speed of service, e it is expected for piston1For piston displacement tracking error value, e2For
The error amount of the piston speed of service.
(II) obtaining, there is the PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor the bandwidth of state feedback controller；v3Expectation is run for piston to accelerate
Degree.
(III) u ' is obtained:
Embodiment 3
Please refer to figs. 2 and 3 present embodiments provides a kind of asymmetrical hydraulic cylinder electro-hydraulic position servo control system, the control
System processed makes itself using a kind of linear active disturbance rejection control method of electro-hydraulic position servo control system described in embodiment 1
Achieve the effect that precision is high, stability is good, interference rejection ability is strong.
A kind of asymmetrical hydraulic cylinder electro-hydraulic position servo control system comprising: filter 1, motor 2, hydraulic pump 3, ratio
Example valve 4, overflow valve 5, hydraulic cylinder 6, load 7, linear displacement transducer 9, linear active disturbance rejection controller 8,10 and of analog-digital converter
Digital analog converter 11.
Filter 1 is used to be filtered hydraulic oil, and the oil inlet end of hydraulic pump 3 is connected to the oil outlet of filter 1.Motor
2 are sequentially connected by shaft coupling and hydraulic pump 3.The oil inlet end of proportioning valve 4 is connected to the oil outlet of hydraulic pump 3, and proportioning valve 4 passes through
Parameter setting can control the oil pump capacity of itself.The oil inlet of overflow valve 5 is connected on the access of hydraulic pump 3 and proportioning valve 4, when
When the hydraulic fluid pressure that hydraulic pump 3 exports is excessive, by 5 oil extraction pressure release of overflow valve, guarantee that 4 oil inlet end of proportioning valve meets with this
The oil pressure value of setting.Hydraulic cylinder 6 is connected to proportioning valve 4, and the movement of 6 inner piston rod of hydraulic cylinder is controlled by proportioning valve 4.7 peace of load
Mounted in the one end of 6 piston rod of hydraulic cylinder far from piston, linear displacement transducer 9 is mounted on the side of load 7, for detecting load
7 displacement.
Linear active disturbance rejection controller 8 is connect with linear displacement transducer 9 and proportioning valve 4 respectively, in linear Active Disturbance Rejection Control
Settable analog-digital converter 10 between device 8 and linear displacement transducer 9, can between linear automatic disturbance rejection controller 8 and proportioning valve 4
Digital analog converter 11 is set.
Linear active disturbance rejection controller 8 includes Tracking Signal Generator 12, LESO13 and state feedback controller 14.Tracking letter
Number generator 12 gives Shifted Reference signal for " softening ", by its differential signal (speed, acceleration) as control system
System is added in feed-forward signal, increases the range of choice of controller parameter.LESO13, on the one hand be used to realize to be applied to control system
The real-time dynamic always disturbed of uniting compensates, while realizing filter function, and observation system state in real time, avoids directlying adopt sensing
The caused high-frequency noise pollution problem of device measurement.State ultramagnifier 14 is according to the defeated of Tracking Signal Generator 12 and LESO13
Out as a result, obtaining the dynamic Active Compensation control law of control system and exporting to proportioning valve 4.
When work, by the filtered hydraulic oil of filter 1, after the pressurization of hydraulic pump 3, join according to the oil pressure of setting
Number inputs to proportioning valve 4, and proportioning valve 4 is controlled by the current dynamic Active Compensation control law of eve acquisition to hydraulic cylinder again
Hydraulic oil exports in 6, and the change of cavity volume has occurred under the action of hydraulic oil in hydraulic cylinder 6, to move with dynamic load 7.
Current displacement can be obtained by linear displacement transducer 9, and the displacement is inputed to through the conversion value of analog-digital converter 10
Linear active disturbance rejection controller 8.The current dynamic Active Compensation control law that upper a moment is obtained simultaneously is linear certainly as current time
The input signal all the way of disturbance rejection control device 8.In linear automatic disturbance rejection controller 8, by Tracking Signal Generator 12, LESO13 and
The current displacement of input and current dynamic Active Compensation control law are passed through embodiment 1 by the collective effect of state ultramagnifier 14
Described in method, the final dynamic Active Compensation control law for obtaining subsequent time, and the numerical value is inputed into proportioning valve 4, such as
This loop cycle realizes the dynamic active control at each moment of proportioning valve 4.
Embodiment 4
The present embodiment provides a kind of linear active disturbance rejection control methods of electro-hydraulic position servo control system, including following step
Suddenly.
Step 1: according to fig. 2, being asked by the external leakage of Analysis on Mechanism, the dynamic characteristic and hydraulic cylinder 6 of ignoring proportioning valve 4
Topic,
Definition:Then asymmetrical hydraulic cylinder electro-hydraulic position servo control system high-order nonlinear
Model may be expressed as:
Wherein, u is the bounded input voltage of proportioning valve 4, kv> 0 is the gain of proportioning valve 4, xvFor the spool position of proportioning valve 4
It moves, M is the equivalent mass for loading 7, BpFor viscous friction coefficient, c is the rigidity for loading 7, and d is to include non-linear friction, outside
The disturbance such as interference and Unmarried pregnancy, P1For rodless cavity pressure, P2For rod chamber pressure,For P1First derivative,For P2
First derivative, A1For rodless cavity piston area, A2For rod chamber piston area, y is load displacement,For the first derivative of y,For the second dervative of y.V1=V10+A1Y, V2=V20-A2Y, wherein V10、V20For rodless cavity, rod chamber original volume.CtFor liquid
The coefficient of leakage in cylinder pressure 6, βeFor oil liquid elasticity modulus, Q16 rodless cavity flow of hydraulic cylinder, Q are flowed into for proportioning valve 42For returning for rod chamber
The flow of oily proportioning valve 4.CdFor valve port flow coefficient.ω is the area gradient of proportioning valve 4, and ρ is oil liquid
Density, PsFor charge oil pressure, PrFor return pressure.
It is converted on the basis of formula (1), obtains formula (2),
F (y, d, P in formula (2)1,P2, u) and it is to be applied to system always to disturb, b0For control gain b estimated value,For y's
Three order derivatives.
Step 2: the asymmetrical hydraulic cylinder electro-hydraulic position servo control system mathematic model established according to step (1), design
Linear active disturbance rejection controller 8, main includes the design, the design of LESO13 and state ultramagnifier 14 of Tracking Signal Generator 12
Design.
(1) transformation of asymmetrical hydraulic cylinder electro-hydraulic position servo control system mathematic model.
Define x1=y,Introduce expansion state x3=f (y, d, P1,P2, u), first equation can indicate in formula (2)
For
Wherein,x
=[x1 x2 x3]T,For the first derivative of x.
(2) Tracking Signal Generator 12 is designed according to Control performance standard (rise time, overshoot, steady-state error etc.), it can
To be generated using " three rank steepest Nonlinear Tracking Differentiators " or other practical approaches, it is given that its object is to " softenings "
System is added in Shifted Reference signal, the feed-forward signal by its differential signal (speed, acceleration) as system, increases controller ginseng
Several ranges of choice.
(3) linear extended state observer 13 is designed, constructs linear extended state observer state space side according to formula (3)
Journey,
Wherein, For LESO state to
Amount,ForFirst derivative, ωoFor LESO bandwidth, u is current dynamic Active Compensation control law, and y is current piston displacement.
(4) it determines asymmetrical hydraulic cylinder electro-hydraulic position servo control system control law, completes linear active disturbance rejection control and implement
Process,
Wherein, u is dynamic disturbances Active Compensation control law, u0PD control rule is fed back for the state with feed forward of acceleration,
v1,v2,v3It is displacement, speed and the acceleration that Tracking Signal Generator generates, k respectivelyp、kdRepresentation parameter gain coefficient, andkd=2 ωc, ωcFor state feedback controller bandwidth.
(5) according to above method step, it is built into the electro-hydraulic position servo control system an of asymmetrical hydraulic cylinder, is tied
Structure is as shown in Figure 2.
(6) system parameter b0、ωc、ωoAdjusting rule carry out as follows,
1. according to the physical meaning and value of real system parameter, according to b=γ β in formula (2)e(R1A1/V1+R2A2/
V2)/BpEstimate control gain b0, b0Value must meet b0B > 0,
2. determining linear extended state observer bandwidth omegao.On the basis of 1., according to dynamic response requirement, especially
The stabilization time for inputting Setting signal, primarily determine state feedback controller bandwidth omegacAnd it remains unchanged；In measurement noise and adopt
It within sample rate allowed band, while considering influence of the sample delay to control performance, is to ensure that LESO can be tracked quickly
The variation that system always disturbs is realized to the inhibition of the comprehensive disturbance of system, chooses LESO bandwidth omegaoInitial value ωo=ωc, it is gradually increased
ωoValue, ωoBigger LESO is faster to the status tracking speed comprising always disturbing, but after arriving at a certain critical value, LESO with
ωoThe high frequency measurement noise filtering ability reduction to sensor is continued growing, status tracking precision is reduced instead, needed back at this time
Adjust ωoValue, the value of usual ω o is in (5~10) ωcVariation in range, untilUntil meeting expectation quality, band at this time
Wide ω o is optimal bandwidth omega o,
3. determining state feedback controller bandwidth omegac.B is kept on the basis of 1. 2.0、ωoIt is constant, it is anti-to be gradually increased state
Present controller bandwidth omegac, ωcThe response speed of the bigger system of value will be faster, and steady-state error is smaller, but stability margin can drop
It is low.Therefore ωcValue needs necessary compromise is carried out between rapidity and stability.
Referring to Figure 4 together, Fig. 5 and Fig. 6 inputs 0.14sin (2 π 0.27*t) sinusoidal signal to system, can be with
, it is evident that when the comprehensive disturbance for the system that is applied to is identical, the output displacement value and tradition of this control method LADRC control
The displacement output valve of PID and the desired value of system essentially coincide.
The tracking error value for comparing this control method and traditional PID approach, when the comprehensive disturbance for the system that is applied to is identical,
The tracking error of clearly visible control method is smaller, and interference rejection ability is more preferable.
Referring to Figure 7 together, Fig. 8, Figure 11, to the fixed signal of system input 0.14m, it is desirable that arrive at stable state in 1.5 seconds
Value, when being applied to system and always disturbing identical, the displacement output valve of this method and traditional PID approach can the time required to arriving at stable state
Represent the response speed of system.As seen from the figure, two methods piston displacement essentially coincides the time required to arriving at desired value, then represents
The response speed of the system of two methods is almost the same.
Also referring to Fig. 9, Figure 10, Figure 11,0.14m fixed signal is inputted to system, it is desirable that arrive at stable state in 1.5 seconds
Value, when the comprehensive disturbance of the system that is applied to is identical, the tracking error value of this method and traditional PID approach, as seen from the figure, this implementation
In example, the tracking error maximum value of traditional PID approach is about 3.5 × 10-3M, and the tracking error value of this method is maximum absolutely
To value about 0.5 × 10-3M, it is seen that the tracking error of this method is smaller.
Further, into after stable state, as the comprehensive disturbance for the system that is applied to is stepped up, the tracking error of this method
Maximum value remain unchanged, the amplitude of the tracking error of traditional PID control method gradually increases and occurs high frequency oscillation, can
See this method strong robustness.
It is found referring to Figure 4 together to Figure 11, this method ADRC is controlled relative to PID control, effectively raises system
Response speed, reduce tracking error, improve the control performance of system.
Embodiment 5
Present embodiments provide a kind of terminal comprising memory, processor and be stored in the memory
Computer program that is upper and can running on the processor.It is realized when the processor executes described program as embodiment 1 is retouched
A kind of the step of linear active disturbance rejection control method for the electro-hydraulic position servo control system stated.
Embodiment 6
A kind of computer readable storage medium is present embodiments provided, computer program is stored thereon with, which is characterized in that
When described program is executed by processor, a kind of the linear from anti-of electro-hydraulic position servo control system as described in embodiment 1 is realized
The step of disturbing control method.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of electro-hydraulic position servo control system includes proportioning valve (4), hydraulic cylinder (6), proportioning valve (4) is actively mended according to dynamic
Repay the piston displacement of control law control hydraulic cylinder (6)；It is characterized in that,
The electro-hydraulic position servo control system further includes linear active disturbance rejection controller (8), linear active disturbance rejection controller (8) basis
The current dynamic Active Compensation control law u of current piston displacement y and proportioning valve (4) input of hydraulic cylinder (6) carries out data processing,
The close loop negative feedback control of expectation state Feedback Control Laws u ', u ' realization electro-hydraulic position servo control system is obtained, it is described linear
Automatic disturbance rejection controller (8) includes sampling module, linear extended state observer building module, feedback controller building module；
The sampling module is for sampling y and u；
The linear extended state observer building module parameterizes described linear for constructing linear extended state observer
Extended state observer comprising step:
(I) linear extended state observer is constructed according to y and u, met:
Wherein,For the state matrix of linear extended state observer；
For the state vector of linear extended state observer, and For linear extended state observation
Device input matrix, wherein b0Represent the estimated value of input channel control gain b；For linear extended state observer
Gain matrix, ωoFor the bandwidth of linear extended state observer；For piston displacement observation；It is linear
The output matrix of extended state observer；
(II) rightLine integral obtains For piston displacement observation；For the piston speed of service
Observation；For the estimated value for being applied to the comprehensive disturbance of system；
(III) linear expansion observer state vectorMultiplied by matrix E, total disturbance f (y, d, the P that are applied to system are obtained1,P2,u)
Estimated valueWherein
The state feedback controller building module is for constructing and parameterizing state feedback controller comprising step:
(I) willWith v1It is compared and obtains e1, willWith v2It is compared and obtains e2,
Wherein, v1It is expected to be displaced for piston, v2For piston desired speed, e1For piston displacement tracking error value, e2For piston operation
Speed error value；
(II) obtaining, there is the state feedback PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor state feedback controller bandwidth；v3It is expected acceleration；
(III) u ' is obtained:
2. electro-hydraulic position servo control system as described in claim 1, which is characterized in that according to formula b=γ βe(R1A1/V1+
R2A2/V2)/BpEstimate b0, to ensure control performance, b must be met0B > 0, and
Wherein,
V10、V20For rodless cavity, rod chamber original volume；A1For rodless cavity piston area, A2For rod chamber piston area；kv> 0 is
Proportioning valve (4) gain；CdFor valve port flow coefficient；ω is proportioning valve (4) area gradient；ρ is oil liquid density；βeFor oil liquid elasticity
Modulus；BpFor viscous friction coefficient, PsFor charge oil pressure, PrFor return pressure；P1For rodless cavity pressure, P2For rod chamber pressure.
3. electro-hydraulic position servo control system as claimed in claim 2, which is characterized in that in known b0Under conditions of, it determines most
Excellent linear extended state observer bandwidth omegao；Optimum linearity extended state observer bandwidth omegaoMethod of determination are as follows: according to dynamic
Response requires, and especially inputs the stabilization time of Setting signal, primarily determines state feedback controller bandwidth omegacAnd it keeps not
Become；Within measurement noise and sampling rate allowed band, linear extended state observer bandwidth omega is chosenoInitial value ωo=ωc,
Incrementally increase ωoValue, ωoBigger linear extended state observer is faster to the status tracking speed comprising always disturbing, but supports
Up to after a certain upper dividing value, linear extended state observer is with ωoIt continues growing and high-frequency signal filter capacity is declined, sensor
High frequency measurement noise will be introduced into, status tracking precision reduces instead, need at this time readjustment ωoValue, ωoValue (5~
10)ωcVariation in range, untilUntil meeting expectation quality, bandwidth omega at this timeoAs optimal bandwidth omegao。
4. electro-hydraulic position servo control system as claimed in claim 3, which is characterized in that determine optimal state feed-back control device
Bandwidth omegac: in known b0AndUnder conditions of meeting expectation quality, ω is keptoIt is constant, enlarging state feedback controller bandwidth omegac,
ωcThe response speed of the bigger system of value is faster, and steady-state error is smaller, but stability margin reduces, therefore ωcValue according to being
System actual needs trades off between rapidity and stability.
5. electro-hydraulic position servo control system as described in claim 1, which is characterized in that in building state feedback controller
When, using Tracking Signal Generator (12) according to the dynamic and static performance for giving input signal v and electro-hydraulic position servo control system
Index obtains v1、v2、v3。
6. electro-hydraulic position servo control system as described in claim 1, which is characterized in that linear active disturbance rejection controller (8) is also
Including Tracking Signal Generator (12)；Tracking Signal Generator (12) is used to believe its differential signal as the feedforward of control system
Number input system.
7. electro-hydraulic position servo control system as described in claim 1, which is characterized in that the electro-hydraulic position servo control system
System further include: filter (1), motor (2), hydraulic pump (3), overflow valve (5), load (7), linear displacement transducer (9), modulus
Converter (10) and digital analog converter (11)；
The oil inlet end of hydraulic pump (3) is connected to the oil outlet of filter (1)；Motor (2) and hydraulic pump (3) are sequentially connected；Ratio
The oil inlet end of valve (4) is connected to the oil outlet of hydraulic pump (3)；The oil inlet of overflow valve (5) is connected in hydraulic pump (3) and proportioning valve
(4) on access；Hydraulic cylinder (6) is connected to the oil outlet of proportioning valve (4)；It is separate that load (7) is mounted on hydraulic cylinder (6) piston rod
One end of piston；Linear displacement transducer (9) is mounted on the side of load (7), for detecting the displacement of load (7)；Control
Device (8) is connect with linear displacement transducer (9) and proportioning valve (4) respectively, controller (8) and linear displacement transducer (9) it
Between be arranged analog-digital converter (10), between controller (8) and proportioning valve (4) setting digital analog converter (11).
8. a kind of terminal comprising memory, processor and be stored on the memory and can be in the processing
The computer program run on device, which is characterized in that the processor realizes following steps when executing described program:
Step 1 samples y and u；
Step 2 constructs linear extended state observer, and parameterizes the observer comprising step:
(I) linear extended state observer is constructed according to y and u, met:
Wherein,For the state matrix of linear extended state observer；
For the state vector of linear extended state observer, and For linear extended state observation
Device input matrix, wherein b0It represents before electro-hydraulic position servo system to the estimated value of input channel control gain b；
For the gain matrix of linear extended state observer, ωoIt is linear extended state observer uniquely to setting parameter observer
Bandwidth；For piston displacement observation；For the output matrix of linear extended state observer；
(II) rightLine integral obtains For piston displacement observation；For the piston speed of service
Observation；For the comprehensive disturbance estimated value for being applied to system；
(III) linear expansion observer state vectorMultiplied by matrix E, total disturbance f (y, d, the P that are applied to system are obtained1,P2,u)
Estimated valueWherein
Step 3 constructs and parameterizes state feedback controller comprising step:
(I) willWith v1It is compared and obtains e1, willWith v2It is compared and obtains e2,
Wherein, v1It is expected to be displaced for piston, v2The speed of service, e it is expected for piston1For piston displacement tracking error value, e2For piston
Speed of service error amount；
(II) obtaining, there is the state feedback PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor state feedback controller bandwidth；v3It is expected to run acceleration for piston；
(III) u ' is obtained:
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described program is by processor
When execution, following steps are realized:
Step 1 samples y and u；
Step 2 constructs linear extended state observer, and parameterizes the observer comprising step:
(I) linear extended state observer is constructed according to y and u, met:
Wherein,For the state matrix of linear extended state observer；
For the state vector of linear extended state observer, and For linear extended state observation
The input matrix of device, wherein b0Represent the estimated value of input channel control gain b；For linear extended state observation
The gain matrix of device, ωoFor the bandwidth of linear extended state observer；For piston displacement observation；For line
The output matrix of property extended state observer；
(II) rightLine integral obtains For piston displacement observation；For the piston speed of service
Observation；To be applied to the comprehensive disturbance estimated value of system；
(III) linear expansion observer state vectorMultiplied by matrix E, total disturbance f (y, d, the P that are applied to system are obtained1,P2,u)
Estimated valueWherein
Step 3 constructs and parameterizes state feedback controller comprising step:
(I) willWith v1It is compared and obtains e1, willWith v2It is compared and obtains e2,
Wherein, v1It is expected to be displaced for piston, v2The speed of service, e it is expected for piston1For piston displacement tracking error value, e2For piston
Speed of service error amount；
(II) obtaining, there is the state feedback PD control of feed forward of acceleration to restrain u0:
u0=kpe1+kde2+v3
Wherein,kd=2 ωc, ωcFor state feedback controller bandwidth；v3It is expected to run acceleration for piston；
(III) u ' is obtained:
10. computer readable storage medium as claimed in claim 9, which is characterized in that in known b0Under conditions of, it determines most
Excellent linear extended state observer bandwidth omegao；Optimum linearity extended state observer bandwidth omegaoMethod of determination are as follows: according to dynamic
Response requires, and especially inputs the stabilization time of Setting signal, primarily determines state feedback controller bandwidth omegacAnd it keeps not
Become；Within measurement noise and sampling rate allowed band, linear extended state observer bandwidth omega is chosenoInitial value ωo=ωc,
Incrementally increase ωoValue, ωoBigger linear extended state observer is faster to the status tracking speed comprising always disturbing, but supports
Up to after a certain upper dividing value, linear extended state observer is with ωoIt continues growing and high-frequency signal filter capacity is declined, sensor
High frequency measurement noise will be introduced into, status tracking precision reduces instead, need at this time readjustment ωoValue, ωoValue (5~
10)ωcVariation in range, untilUntil meeting expectation quality, bandwidth omega at this timeoAs optimal bandwidth omegao。
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