直驱阀控液压振动平台改进自抗扰控制

doi:10.13229/j.cnki.jdxbgxb.20230266

Abstract

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

CLC Number:

U467.5

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.

Figures/Tables 9

Fig.1

Fig.2

Fig.3

Table 1

Main parameters of system"

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

Table 1

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

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Improved active disturbance rejection control for hydraulic vibration stages based on the direct-drive valve

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