关键词: 铣面机床, 阀控非对称缸, PID控制策略, 自抗扰控制, 电液位置伺服系统

Abstract: To improve the position control accuracy of electro-hydraulic servo system for surface milling machine,a control strategy of milling face's electro-hydraulic position servo system based on Active Disturbance Rejection Control (ADRC) technique was proposed.According to the characteristics of valve controlled asymmetrical cylinder in two different conditions of extend and retract,the corresponding fluid dynamics model were established,and the transfer function of system was deduced by other links.The three order ADRC strategy was designed on the basis of the system characteristics,and the extended state observer was used to estimate and compensate the time-varying of system parameters and external disturbance.The performance of designed control strategy was verified by simulation and industrial field experiments.The results showed that ADRC strategy could make the position output of system not affect by the change of control object's parameters,and had better internal robustness and anti-interference ability than traditional PID control strategy,which could suppress the external disturbances on the system effectively.

Key words: surface milling machine, valve controlled asymmetrical cylinder, PID, active disturbance rejection control, electro-hydraulic position servo system