基于扩张状态观测器的焊缝对中速度滑模控制OA

To address the problems of slow response,low accuracy,and weak disturbance rejection in the weld seam centering control system prior to steel pipemechanical expansion processing,this study proposed a sliding mode control(SMC)strategy with secondary compensation based on an extended state observer(ESO).First,an ESO was designed to perform lumped observation and real-time estimation of the inherent nonlinear friction and high-frequency periodic load disturbances in the system.Subsequent-ly,a dual-loop sliding mode speed controller based on the ESO was designed to achieve disturbance sup-pression and speed tracking.The stability of the closed-loop system was proven using Lyapunov stability theory.Experimental results showed that,compared with traditional methods,the proposed strategy significantly suppressed various disturbances and exhibited faster response speed,higher tracking accu-racy,and stronger robustness in weld seam centering control.