[1]李 勰,李语心,杨 振,等.基于ADRC的液压支护机器人自适应控制[J].机械与电子,2018,(04):71-75.
　LI Xie,LI Yuxin,YANG Zhen,et al.Self-Adaptive Control of Hydraulic Support Robot Based on ADRC[J].Machinery & Electronics,2018,(04):71-75.
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基于ADRC的液压支护机器人自适应控制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年04期
页码:
71-75
栏目:
智能工程
出版日期:
2018-04-24

文章信息/Info

Title:
Self-Adaptive Control of Hydraulic Support Robot Based on ADRC
文章编号:
1001-2257(2018)04-0071-05
作者:
李 勰; 李语心; 杨 振; 郑 辉; 吴 优; 付 庄
(上海交通大学机械系统与振动国家重点实验室,上海 200240)
Author(s):
LI Xie; LI Yuxin;  YANG Zhen; ZHENG Hui; WU You;  FU Zhuang
(State Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University,Shanghai 200240, China)
关键词:
液压支架;  动力学分析;  自抗扰控制器;  非线性系统
Keywords:
hydraulic support;  dynamic analysis;  ADRC control;  non-linear system
分类号:
TP249
文献标志码:
A
摘要:
为促进深层围岩液压支架自动化控制的研究,提出了一种基于ADRC的自适应控制系统。首先,通过液压支架支护系统的拉格朗日动力学分析,建立了液压支架动力学模型。针对该模型的动力耦合和时变特性设计了ADRC控制器,并对跟踪微分器、扩张观测器和非线性误差反馈3部分进行了离散化、分离式的参数整定。最终以MATLAB / Simulink为平台,对液压支架模型和控制系统进行了联合仿真实现,并设计了ADRC与PID控制的对比实验。仿真实验结果表明,该ADRC控制器与PID控制器相比具有更好的控制效果和运动品质。
Abstract:
A self-adaptive control system based on ADRC was put forward to improve the research on hydraulic support automation for deep wall rock. Firstly, the dynamic model for hydraulic support system was established through Lagrange dynamic analysis. Secondly, the ADRC controller was designed according to the dynamic coupling and time-varying characteristics. In addition, parameters of tracking differentiator, extended state observer, and non-linear error feedback were tuned separately and discretely. Finally, on MATLAB/Simulink platform, the hydraulic support model and the control system were jointly simulated. Besides, experiments were designed to contrast ADRC and PID control as well. The simulation results show that ADRC control system has better performance and moving quality than PID controller.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-11-28
基金项目:国家重点基础研究发展计划(973 计划)(2014CB046302); 国家自然科学基金(U1401240,61473192)
作者简介:李 勰(1994-),男,河南南阳人,硕士,研究方向为机器人控制; 李语心(1995-),女,上海人,硕士研究生,主要研究方向为智能控制系统; 杨 振(1993-),男,浙江嘉兴人,博士研究生,主要研究方向为模块机器人智能控制; 郑 辉(1962-),男,教授,博士研究生导师,研究方向为振动学; 吴 优(19
更新日期/Last Update: 2018-04-24