| 陈滋凯,李胜,阮健,张天聪,陈鹏志.2D伺服阀电-机械转换器参数实时优化的自抗扰同步跟踪控制[J].高技术通讯(中文),2021,31(12):1320~1330 |
| 2D伺服阀电-机械转换器参数实时优化的自抗扰同步跟踪控制 |
| Active disturbance rejection synchronous tracking control with real-time parameters optimization of 2D servo valve electro-mechanical converter |
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| DOI：10.3772/j.issn.1002-0470.2021.12.010 |
| 中文关键词: 电-机械转换器； 自适应遗传算法（AGA）； 参数实时优化； 自抗扰控制（ADRC）； 2D伺服阀 |
| 英文关键词: electro-mechanical converter， adaptive genetic algorithm (AGA)， real-time parameter optimization， active disturbance rejection control (ADRC)， 2D digital servo valve |
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| 中文摘要: |
| 步进电机作为2D伺服阀电-机械转换器，在传统工作方式下存在分辨率和响应速度之间的矛盾且容易受扰动影响，新型控制器参数人工整定费时费力且难以取得满意的控制效果。为了解决这些问题，本文提出了参数实时优化的自抗扰同步跟踪控制算法(AAP），其基于自适应遗传算法(AGA)的自动调节机制，能根据电-机械转换器被控过程的输出特性，在线校正和整定控制器参数；自抗扰位置控制器能有效抑制来自电-机械转换器内部电感、摩擦力，外部负载以及2D伺服阀工作的系统压力突变带来的各种干扰；同步跟踪控制实现了电-机械转换器转子在任意位置快速、精确的定位，成功解决分辨率和响应速度之间的矛盾。本文首先阐述电-机械转换器同步跟踪控制原理并建立了数学模型，然后介绍了AAP、自抗扰位置控制器设计及参数优化思路，最后为了检验方法的有效性并测试控制效果，用Matlab/Simulink对比例积分微分(PID)和AAP控制下的电-机械转换器仿真并对比分析，搭建了电-机械转换器和2D伺服阀测试平台。实验测得AAP控制的电-机械转换器上升时间为4.4ms，对应-3dB、-90°处的频宽约为240Hz，控制的2D伺服阀上升时间为6.9ms，对应-3dB、-90°处的频宽约为105Hz，相较于传统PID算法控制，具有更好的动态性能、频率特性及鲁棒性。 |
| 英文摘要: |
| As an electro-mechanical converter of 2D servo valve, stepper motor has the contradiction between resolution and response and is easily affected by disturbance speed under the traditional working mode,the parameter setting manually of the new controller is laborious, and it is difficult to obtain satisfactory control effect. In order to solve these problems, an active disturbance rejection synchronous tracking control algorithm with real-time parameters optimization (AAP) is proposed in this paper. Because of its automatic adjustment mechanism based on adaptive genetic algorithm (AGA), the controller parameters can be adjusted online according to the output characteristics of the controlled process of the electro-mechanical converter; active disturbance rejection control (ADRC) position controller can effectively suppress all kinds of disturbances caused by inductance, friction force, external load and system pressure mutation of 2D servo valve; the synchronous tracking control realizes the fast and accurate positioning of the rotor of the electro-mechanical converter at any position, and successfully solves the contradiction between resolution and response speed. Firstly, the principle of synchronous tracking control of electro-mechanical converter is described and the mathematical model is established. Then, AAP, ADRC position controller design and parameter optimization are introduced. Finally, in order to test the effectiveness of the method and test the control effect, the electro-mechanical converter controlled by proportion integration differentiation (PID) and AAP is simulated and analyzed by Matlab/Simulink, and the test platform of electro-mechanical converter and 2D servo valve are built. The experimental results show that the rise time of the electro-mechanical converter controlled by AAP algorithm is 4.4ms and the bandwidth corresponding to -3dB, -90° is 240Hz, the rise time of 2D servo valve controlled by AAP is 6.9ms and the bandwidth corresponding to -3dB, -90° is 105Hz. Compared with the traditional PID algorithm control, it has better dynamic performance, frequency characteristics and robustness. |
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