[1]郭正刚,赵 彪,于景奇,等.基于模糊自抗扰控制的液压悬架电机调速研究[J].机械与电子,2025,(08):73-80.
　GUO Zhenggang,ZHAO Biao,YU Jingqi,et al.Research on Speed Regulation of Hydraulic Suspension Motor Based on Fuzzy Active Disturbance Rejection Control[J].Machinery & Electronics,2025,(08):73-80.
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基于模糊自抗扰控制的液压悬架电机调速研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年08期
页码:
73-80
栏目:
机电一体化
出版日期:
2025-08-25

文章信息/Info

Title:
Research on Speed Regulation of Hydraulic Suspension Motor Based on Fuzzy Active Disturbance Rejection Control
文章编号:
1001-2257 ( 2025 ) 08-0073-08
作者:
郭正刚; 赵 彪; 于景奇; 邹 玮; 牛宇鸣; 常 富
大连理工大学机械工程学院,辽宁 大连 116024
Author(s):
GUO Zhenggang ;  ZHAO Biao ;  YU Jingqi ;  ZOU Wei ;  NIU Yuming ;  CHANG Fu
( School of Mechanical Engineering , Dalian University of Technology , Dalian 116024 , China )
关键词:
永磁同步电机; 自抗扰控制; 扩张状态观测器; 模糊控制; Simulink 仿真
Keywords:
PMSM ;  active disturbance rejection control ;  extended state observer ;  fuzzy control ;  Simulink simulation
分类号:
TP273 ;TM341
文献标志码:
A
摘要:
针对液压悬架电机调速中存在的参数时变、非线性扰动及外部负载突变导致的控制精度不足问题,提出一种基于模糊自抗扰控制的调速策略。首先,介绍了液压悬架系统的工作原理,分析了在实际工作时受到的负载波动,并建立液压悬架电机的数学模型;其次,结合自抗扰控制框架设计并改进了扩张状态观测器对系统总扰动进行实时估计与补偿。针对改进型自抗扰控制器参数固化的问题,引入模糊推理机制对扩张状态观测器增益参数进行动态调整,构建具有自适应特性的模糊自抗扰控制器。为验证所提方法的有效性,通过 Simulink 仿真平台分析不同工况下的动态特性,并搭建了液压悬架电机调速实验平台进行实验验证。仿真结果表明:与传统自抗扰和改进型自抗扰相比,模糊自抗扰在不同转速指令下响应时间有所缩短,且在不同负载扰动下转速波动幅度也有所减小;所提方法在负载突变时具有强鲁棒性与高精度调控能力。
Abstract:
A speed regulation strategy based on fuzzy active disturbance rejection control is proposed to solve the problem of insufficient control precision caused by time-varying parameters , nonlinear disturbance and sudden change of external load in hydraulic suspension motor speed regulation.Firstly , the working principle of the hydraulic suspension system is introduced , the load fluctuation encountered during operation is analyzed , and the mathematical model of the hydraulic suspension motor is established.Secondly , combined with the active disturbance rejection control framework , an extended state observer is designed and imroved to estimate and comensate the total disturbance in real time.Aiming at the problem of parameter solidification of the imroved ADRC , a fuzzy inference mechanism is introduced to dynamically adjust the gain parameters of the extended state observer , and a fuzzy ADRC in constructed.In order to verify the effectiveness of the proposed method , dynamic characteristics under different working conditions were analyzed by Simulink simulation platform , and an experimental platform for the speed regulation of the hydraulic suspension motor was built for experimental verification.The simulation results show that comared with traditional and imroved ADRC , the response time of fuzzy ADRC is shortened under different rotational speed instructions , and the speed fluctuation amlitude is also reduced under different load disturbances.The experimental results also verify the robustness and high precision of the proposed method under sudden load changes.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2025-02-16
基金项目:山西省重点研发计划项目( 202302110401016 )
作者简介:郭正刚 ( 1977- ),男,辽宁沈阳人,博士,副教授,硕士研究生导师,研究方向为智能控制;赵 彪 ( 1999- ),男,安徽芜湖人,硕士研究生,研究方向为嵌入式软件开发;于景奇 ( 2001- ),男,山东威海人,硕士研究生,研究方向为嵌入式硬件开发;邹 玮 ( 1999- ),男,辽宁营口人,硕士研究生,研究方向为嵌入式开发;牛宇鸣 ( 2000- ),男,河南开封人,硕士研究生,研究方向为嵌入式软件开发;常 富 ( 1999- ),男,山西大同人,硕士研究生,研究方向为嵌入式软件开发。
更新日期/Last Update: 2025-09-05