Research on Synchronous Control of Active Disturbance Rejection Position of Multiple Hydraulic Cylinders of Digging-Anchor-Support Robot

摘要

In order to solve the problems of nonlinearity, uncertainty and coupling of multi-hydraulic cylinder group platform of a digging-anchor-support robot, as well as the lack of synchronization control accuracy of hydraulic synchronous motors, an improved Automatic Disturbance Rejection Controller-Improved Particle Swarm Optimization (ADRC-IPSO) position synchronization control method is proposed. The mathematical model of a multi-hydraulic cylinder group platform of a digging-anchor-support robot is established, the compression factor is used to replace the inertia weight, and the traditional Particle Swarm Optimization (PSO) algorithm is improved by using the genetic algorithm theory to improve the optimization range and convergence rate of the algorithm, and the parameters of the Active Disturbance Rejection Controller (ADRC) were adjusted online. The simulation results verify the effectiveness of the improved ADRC-IPSO control method. The experimental results show that, compared with the traditional ADRC, ADRC-PSO and PID controller, the improved ADRC-IPSO has better position tracking performance and shorter adjusting time, and its step signal synchronization error is controlled within 5.0 mm, and the adjusting time is less than 2.55 s, indicating that the designed controller has better synchronization control effect.