Model-assisted Active Disturbance Rejection Control for Electro-hydraulic Position Servo System Based on Friction Compensation
The non-chain integrator model of the electro-hydraulic position servo system hinders the design and implementation of an active disturbance rejection controller,and nonlinear friction and measurement noise affect the servo performance of the hydraulic cylinder.Therefore,a model-assisted active disturbance rejection controller with friction compensation is proposed in this paper.Firstly,a mathematical model of an electro-hydraulic servo system,including nonlinear coulomb friction,is established,and an equivalent chain integral structure is obtained through coordinate conversion to reveal the"total disturbance"so that the active disturbance rejection controller can be implemented smoothly. In order to reduce the bandwidth of the observer and reduce the sensitivity of the measurement noise,the identification accuracy of the friction model is improved by using a particle swarm optimization algorithm.The stability of the model-assisted extended state observer and the closed-loop system is proved based on the Lyapunov stability theory. Comparative experiment results verify the superiority andpracticability of the proposed control method.
electro-hydraulic servo systemactive disturbance rejection controllernonlinear frictionmodel information
万方数据
维普
