摘要
为解决直驱式电静液作动器(DEHA)位置跟踪效果差、响应速度慢等问题,设计了包括跟踪微分器、线性误差反馈控制律和扩张状态观测器的自抗扰控制器,分析了其工作原理,建立了系统数学模型。搭建了性能测试平台,通过阶跃响应和正弦响应试验验证控制器效果,结果表明,与PID控制相比,阶跃目标信号下响应时间降低34.1%,正弦目标信号下平均相对误差减少38.84%,有效提高了DEHA的跟踪能力。
To address issues such as poor position tracking performance and slow response speed in Direct-Drive Electro-Hydrostatic Actuator(DEHA),an Active Disturbance Rejection Controller(ADRC)was designed.This controller includes a tracking differentiator,a linear error feedback control law,and an extended state observer.The working principle was analyzed,and the mathematical model of the DEHA was established.A performance testing platform is set up,and the effectiveness of the controller was investigated through step response and sinusoidal response tests.The results show that compared to PID control,the response time for step target signals is reduced by 34.1%,and the average relative error for sinusoidal signals decreases by 38.84%,effectively enhancing the tracking capability of DEHA.
作者
彭明硕
韦青坤
訾银停
谭草
PENG Mingshuo;WEI Qingkun;ZI Yinting;TAN Cao(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China;Longkou Zhongyu Machinery Company Limited,Longkou 265716,China)
出处
《山东理工大学学报(自然科学版)》
2026年第1期66-70,共5页
Journal of Shandong University of Technology:Natural Science Edition
基金
山东省自然科学基金项目(ZR2023ME178)
山东省高等学校“青创团队计划”项目(2022KJ232)
山东省博士后创新项目(SDCX-ZG-202400198)。
关键词
电静液作动器
自抗扰控制
直驱技术
跟踪控制
electro-hydrostatic actuator
active disturbance rejection control
direct drive
tracking control
