电液负载敏感位置伺服系统自抗扰控制方法

针对电液负载敏感系统中泵阀控制的耦合问题，提出了一种基于自抗扰算法的解耦控制方法。首先，根据系统原理建立了负载敏感系统的状态空间模型。其次，针对阀控和泵控子系统分别设计了位置自抗扰控制器（ADRC）和压力自抗扰控制器，将2个系统间的动态耦合作用以及外部干扰和不确定性视作总扰动进行估计并给予补偿。最后，基于AMESim和MATLAB联合仿真平台进行了仿真分析。结果表明:所提的控制方法能够消除阀控子系统和泵控子系统的强耦合作用，提高系统的控制精度和鲁棒性。另外，在动态性能和节能效率方面与纯阀控和泵控系统进行对比分析，仿真结果表明:基于自抗扰控制的负载敏感系统的动态性能优于泵控系统，系统能效相对于阀控系统也有较大提升。 

Active disturbance rejection control method for position servo system based on electro-hydraulic load sensing

To deal with the strong interaction between position loop and pressure loop in the electro-hydraulic load sensing control system, we propose a decoupling strategy based on Active Disturbance Rejection Control (ADRC) in this paper. First, according to the equation expressions built by theoretical analysis, the stale space mode model of the load sensing control system was established. Then, position ADRC controller and pressure ADRC controller are designed to control piston position and pump pressure independently. The dynamic interaction between the position loop and pressure loop, external disturbances and uncertainties are treated as total disturbances, which were compensated by ADRC controller. Finally, co-simulation experiment was conducted by using MATLAB and AMESim. The simulation results show that the proposed control strategy can eliminate the strong interaction between the position loop and pressure loop, and improve the control accuracy and robustness of the system. In addition, the dynamic performance and energy-saving efficiency are compared with those of valve-controlled and pump-controlled systems. The simulation results show that the dynamic performance of the load sensing system based on ADRC is better than that of the pump-controlled system, and the energy efficiency is also greatly improved compared with the valve-controlled system.