【摘要】 传统控制方法的抗干扰能力差，导致钻井工具液压系统压力控制精度低。针对此，提出一种基于降阶自抗扰压力控制方法。针对降阶自抗扰控制器参数整定存在的复杂性和局部最优问题，提出一种基于多策略改进MSA算法的降阶自抗扰控制器参数整定方法LCMSA-RADRC。对自抗扰控制器的观测器进行降阶处理，改善观测器的相位滞后，增强控制器的鲁棒性。引入混沌映射、非线性自适应可变惯性权重以及改进Lévy飞行扰动弥补MSA算法全局搜索能力差、易陷入局部最优的弊端，实现降阶自抗扰控制器的参数自整定。将改进算法与其他群智能算法在12个基准函数上进行仿真测试。结果表明：LCMSA-RADRC的寻优性能最佳。将LCMSA-RADRC与传统控制方法的压力控制效果通过仿真和实测进行对比。结果表明：基于多策略改进MSA算法的降阶自抗扰控制方法LCMSA-RADRC提高了液压系统的响应速度及鲁棒性，具有较大的工程应用价值。更多还原

【Abstract】 The disturbance rejection capability of the traditional control method is poor, which leads to low pressure control accuracy in the hydraulic system of drilling tools.In viewing of this, a reduced-order active disturbance rejection pressure control method was proposed.In order to solve the complexity and local optimal problems of parameter tuning for the reduced-order active disturbance controller, a multi-strategy improved MSA based reduced-order active disturbance rejection controller parameter tuning algorithm LCMSA-RADRC was introduced.The observer order of the active disturbance rejection controller was reduced to improve the phase lag of the observer and enhance the robustness of the controller.Chaotic mapping, nonlinear adaptive variable inertia weight and improved Lévy flight disturbance strategy were introduced to make up for the disadvantages of MSA algorithm′s poor global search capability and easy to fall into local optimum, and the parameter self-tuning of the reduced-order active disturbance rejection controller was realized.The improved algorithm and other swarm intelligence algorithms were simulated and tested on 12 benchmark functions.The results show that the optimized performance of the LCMSA-RADRC is the best.The pressure control effect of the LCMSA-RADRC was compared with the traditional control methods through simulation and actual measurements.The results show that the LCMSA-RADRC enhances the response speed and robustness of the hydraulic system, and has great engineering application value.更多还原