Adaptive Disturbance Rejection Reduced-Order Control for Electro-Hydraulic System of Excavation Equipment Boom Joint
In response to the challenges posed by nonlinear characteristics,parameter uncertainty,and significant external disturb-ances in the boom joint driving electro-hydraulic system of excavation equipment,an adaptive disturbance rejection control method was introduced based on a reduced-order model.The order of the system was reduced,and then the sliding mode adaptive controller was combined with the linear extended state observer.The observation information of the linear extended state observer was directly used as feedback information,and the disturbance was observed to compensate the remaining uncertainty,the robustness and tracking perform-ance were improved.The adaptive disturbance rejection reduced-order controller was independent of the parameters of the joint driving system and solely relies on the system's output displacement,thereby the required number of control parameters were effectively mini-mized.The results show that the adaptive disturbance rejection reduced-order controller can not only realize the high-precision control of the position output of the joint driving system,but also can effectively observe the output state velocity and disturbance of the system,and has stronger robustness to parameter changes.
electro-hydraulic systemreduced-order modelstate observeradaptive disturbance rejection control
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