气动加载系统的积分型线性自抗扰控制
Integral-linear active disturbance rejection controller for pneumatic force control system

气动加载系统是复杂的非线性时变系统, 可变参数和不确定性比较多, 本文采用积分型线性自抗扰控制器(I--LADRC)对气动加载系统进行控制. 自抗扰控制器(active disturbance rejection controller, ADRC)结构简单, 不依赖于被控对象精确的数学模型, 可以很好补偿被控系统内外各种不确定性. 加入积分环节用来弥补ADRC在时变系统控制中存在的不足. 在采用VC++6.0的工控试验平台上, 将I--LADRC应用于气动加载系统中, 分别在加载压力为恒值、方波和正弦波时进行空载和加载实验, 并将得到的实验结果与PID控制算法进行比较,实验结果表明该控制 算法不仅响应速度快, 精度高, 并且还具有较强的鲁棒性, 具有良好的工程应用前景.
The pneumatic force control system is a highly nonlinear system with a lot of variable parameters and uncertainties. An integral-linear active disturbance rejection controller (I--LADRC) is proposed for a pneumatic force control system. The structure of ADRC is simple and less depending on the mathematic model of the system, and compensates both the internal and external uncertainties. An integral part is added to remedy the deficiencies of ADRC when it is applied to a time-varying system. On the VC++6.0 industrial control experiment platform, the I--LADRC is applied to the pneumatic force control system for implementing the no-load and loaded experiments; the loading pressure is constant, square wave and sinusoidal wave, respectively. The comparison of the simulation and experiment results with those obtained from the PID algorithm demonstrates that this controller provides a faster response, higher precision and stronger robustness, showing a promise prospect of engineering application.