Proximate Time Optimal EMA Position Servo Control Strategy
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摘要: 针对EMA(机电作动器)伺服系统中常见的速度限幅处理以及高动态响应要求, 提出了一种基于1阶LADRC(线性自抗扰控制算法)速度环的PTOC(鲁棒近似时间最优位置控制)控制策略。将速度环与位置环控制律进行结合, 避免一般PTOC伺服系统中对速度控制律与位置控制律的切换。分析了速度环不同工作状态下对PTOC控制律的影响, 分别设计了速度环饱和以及非饱和工作状态下的PTOC控制律。针对典型PTOC控制律中参数选择过于保守的问题, 提出了一种基于可变切换区和线性区的改进方法, 并且给出了稳定性证明。仿真实验结果表明, 提出的控制策略能够有效提高EMA的位置伺服动态性能以及对扰动的抵抗能力。Abstract: To satisfy speed limit requirements and high dynamic response requirements for an EMA (electro-mechanical actuator) servo system, a robust PTOC (approximate time optimal control) position control strategy based on the first-order linear active disturbance rejection control speed controller is proposed. By combining speed loop dynamics with position loop control laws, the switching between speed control law and position control law in the general PTOC servo system is avoided. The effect of the speed controller on the PTOC control law under different working conditions is analyzed, and the PTOC control law under the saturated and unsaturated working conditions of the speed loop is proposed respectively. To solve the problem of conservative parameter selection with the typical PTOC control law, an improved method based on variable switching region and linear region is proposed. The stability proof is given. The simulation results show that the proposed control strategy can enhance the dynamic performance of the EMA position servo and its disturbance rejection ability.
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