Active Disturbance Rejection Force Synchronization Control for Pump-controlled Multi-link Erection System
The pump-controlled multi-link erection system has the issues of nonlinearity,model uncertainty and force fighting arising from asynchronous motion.,An active disturbance rejection force synchronization control strategy is proposed for such a dual-cylinder erection system.Considering the kinematic characteristics of the multi-link erection mechanism and the pressure-flow dynamics of the closed pump-controlled hydraulic system,a dynamical model of multi-link erection system is established.The system disturbances and model uncertainties are estimated by the extended state observer to compensate for them in the controller design process,while a composite force synchronization control method is integrated to enhance the system to overcome the force fighting caused by unbalance load and external disturbances.Based on Lyapunov theory,the multi-link dual-cylinder erection system can achieve asymptotic tracking and force synchronization performance.Finally,the effectiveness of the proposed active disturbance rejection force synchronization control strategy is verified by the comparative experiments of medium-speed and rapid-speed constant-power erections,and the excellent erection tracking and force synchronization control performance is obtained.
multi-link erection systempump-controlled systemactive disturbance rejection controlforce synchronization control
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