直驱阀控液压振动平台改进自抗扰控制

doi:10.13229/j.cnki.jdxbgxb.20230266

摘要/Abstract

摘要：

针对参数摄动下液压振动平台性能恶化、自抗扰控制器响应速度以及抗干扰能力难以兼得的问题，提出了一种基于自耦PID控制律与滑模控制律之间切换的改进自抗扰控制方法。在误差较大时设计基于自适应速度因子的自耦PID控制律，快速减小误差；在小误差的响应后期根据控制律在切换点输出应相等从而控制输出避免突变的原则进行控制律切换，将自耦PID控制律切换为滑模控制律，利用滑模函数不依赖于系统模型的特殊性质提高系统对参数摄动的鲁棒性，同时避免自适应速度因子在小误差时值较大而引起超调的问题。通过李雅普诺夫直接法证明了该算法稳定，并进行了试验验证。结果表明：提出的改进自抗扰控制方法有效提高了直驱阀控液压振动平台的响应速度及抗干扰能力。

关键词: 车辆工程, 液压振动平台, 直驱阀, 自抗扰控制, 自耦PID, 滑模控制

Abstract:

To address the problem of deterioration of the performance of the hydraulic vibration platform under parameter ingestion and the difficulty of combining the response speed and the anti-disturbance ability of the active disturbance rejection controller， an improved active disturbance rejection control method based on switching between the self-coupling PID control law and the sliding mode control law was proposed. The self-coupling PID control law based on the adaptive speed factor was designed to reduce the error quickly when the error is large. In the later stages of the response with small errors， the control law was switched according to the principle that the outputs should be equal at the switching point and thus the control output should avoid sudden changes， improving the robustness of the system resisting parameter ingestion by using the special property that the sliding mode function did not depend on the system model and avoiding the problem of overshooting caused by the large value of the adaptive velocity factor at small errors. The algorithm was proved to be stable by the direct Lyapunov method and was verified by experiment. The results show that the proposed improved active disturbance rejection control method effectively improves the response speed as well as the anti-disturbance ability of the direct-drive valve controlled hydraulic vibration platform.

Key words: vehicle engineering, hydraulic vibration stage, direct-drive valve, active disturbance rejection control, self-coupling PID, sliding mode control

中图分类号:

U467.5

谭草,任浩鑫,葛文庆,宋亚东,陆佳瑜. 直驱阀控液压振动平台改进自抗扰控制[J]. 吉林大学学报(工学版), 2025, 55(1): 84-92.

Cao TAN,Hao-xin REN,Wen-qing GE,Ya-dong SONG,Jia-yu LU. Improved active disturbance rejection control for hydraulic vibration stages based on the direct-drive valve[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(1): 84-92.

图/表 9

图1

图2

图3

表1

系统主要参数"

参数	数值	单位	物理意义
$D$	50	mm	缸径
$d$	35	mm	杆径
$L$	50	mm	最大行程
$ρ$	900	kg·m^-3	液压油密度
$β e$	700	Mpa	体积模量
$k s v$	3.02×10^-4	$m 3 · (s ? A) - 1$	流量增益
$ω s v$	200π	rad·s^-1	阀频宽
$ω h$	919	rad·s^-1	液压固有频率
$ξ h$	0.031		液压阻尼系数
$K c e$	2×10^-12		总泄露系数
$k a$	0.167		放大系数
$C d$	0.61		孔流量系数

表1

图4

图5

图6

图7

图8

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