Application research on active disturbance rejection control algorithm and test of electro-hydraulic steering gear
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摘要:
目的 直驱式容积控制的新型电液舵机是典型的大惯量小阻尼系统，为解决其控制快速性、稳定性以及安静性之间的矛盾，需开展电液舵机的自抗扰控制研究。 方法 首先，建立电液舵机的自抗扰控制（ADRC）模型，重点设计过渡过程以缓解启停瞬间的液压冲击；然后，搭建实物控制试验台，通过分析实物控制过程的稳定性问题，相应调整算法的滤波效果，并增加输出滤波预估模块，从而预报并补偿电液舵机的大时滞；最后，开展算法优化前后的控制性能对比测试。 结果 试验结果表明：在改进的自抗扰控制算法作用下，电液舵机启停瞬态的结构振动降幅约6~10 dB，位置控制精度在1 mm以内，在负载冲击等外界干扰下具有较好的稳定性和跟随性。 结论 研究成果可为大惯量小阻尼系统的稳定控制和自抗扰控制算法的工程化应用提供参考。 Abstract:Objectives The new type of electro-hydraulic steering gear with direct drive volume control is a typical system with large inertia and small damping. To solve the problem of control rapidity, stability and quietness contradicting each other, the engineering application of active disturbance rejection control (ADRC) for the electro-hydraulic steering gear is studied. Methods First, the ADRC model of the electro-hydraulic steering gear is established and a transition process is designed to control the start-stop hydraulic impact. Next, a physical control test-bed is built, the stability of physical control is analyzed, the filtering effect of the algorithm is adjusted, an output filtering prediction module is added, and the big time delay of the electro-hydraulic steering gear is predicted and compensated. Finally, a comparative test of the algorithm control performance before and after optimization is carried out. Results The experimental results show that, under the action of the improved ADRC control algorithm, the structural vibration of the electro-hydraulic steering gear in the start-stop transient state is reduced by about 6–10 dB, the position accuracy can be controlled within 1 mm, and the steering gear has good stability and followability under external interference such as load impact. Conclusion The results of this study can provide references for the stability control and ADRC algorithms of systems with large inertia and small damping. -
图 1 新型电液舵机的系统原理和控制逻辑
Figure 1. System principle and control logic of a new electro-hydraulic steering gear
图 2 主控制器的自抗扰控制算法
Figure 2. Active disturbance rejection control algorithm for main controller
图 10 改进的ADRC控制算法结构框图
Figure 10. Structure block diagram of improved ADRC control algorithm
图 11 算法改进前后的控制效果响应曲线对比
Figure 11. Comparison of control effects before and after algorithm improvement
图 15 300 kN负载工况下的位移响应曲线
Figure 15. Displacement response curve under 300 kN load condition
图 19 电液舵机的实船安装示意图
Figure 19. Installation diagram of electro-hydraulic steering gear in the submarine
图 21 传统PID控制算法下的结构振动加速度时域曲线
Figure 21. Acceleration response of structural vibration with traditional PID control algorithm
图 22 自抗扰控制算法下的结构振动加速度时域曲线
Figure 22. Acceleration response of structural vibration with ADRC algorithm
图 23 2种控制算法下的时域总级曲线
Figure 23. Structural vibration vs. time under two control algorithms
图 24 2种控制算法下打舵周期内各测点的结构振动总级
Figure 24. Structural vibration at each measuring point in rudder turning cycle under two control algorithms
表 1 仿真整定的控制参数值
Table 1. The control parameter values of simulation setting
参数 数值 $r$ 50 h 0.01 ${\;\beta _{\text{1}}}$ 2 ${\;\beta _{\text{2}}}$ 55 ${\;\beta _{\text{3}}}$ 800 $b$ 0.5 ${r_1}$ 100 c 0.02 
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