基于自抗扰方法的机电作动系统位置控制器设计

摘要

针对机电作动器中存在的非线性、多变量、强耦合等问题，利用自抗扰控制方法设计了一种位置伺服控制器。介绍了机电作动器的动力学模型，在控制器设计过程中将负载变化和未知时变扰动视为综合总扰动，并利用扩张状态观测器对综合扰动进行观测并给予补偿。数值仿真结果表明，提出的控制器具有较强的鲁棒性，能满足系统对快速性和准确性的要求，而且能够有效抑制负载变化和不确定性扰动。%Focus on the inherent nonlinear ,multivariable and strong‐coupling characters of electro‐mechanical actuator (EMA) ,a new strategy is developed by using active disturbance rejection controller(ADRC) in this paper .The dynamic model of actuator system is intro‐duced firstly ,in which load change and uncertain external disturbance are considered as one integrated total disturbance .Through the extended states observer (ESO) ,a new observer is proposed to observe and compensate for the total disturbance .Numerical simula‐tion results show that the ADRC proposed in this paper has stronger robustness and adaptability .The designed controller not only satisfies the rapid and steady‐state accuracy demands ,but also effectively resists to the load change and external disturbance .