Research on Fault-Tolerant Control of Electro-Hydraulic Actuator Based on Unknown Input Observer
Malfunctions of sensors or actuators in electro-hydraulic actuators can cause system instability and pose safety hazards.To adress these problems,a fault-tolerant control compensation technique for EHA is proposed and developed.The mathematical model is established,the position tracking control is carried out by PID controller,and the interference and sensor fault diagnosis and error compensation are realized by reconstructed unknown input observer.Fault tolerant control compensation technology can improve the reliability and stability of EHA operation,ensure the stability of the controller and its tracking performance.The effectiveness of the fault-tolerant control compensation technique is proved by numerical simulation and experiment.
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