Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Nguyen, Manh Hung; Dao, Hoang Vu; Ahn, Kyoung Kwan

doi:10.3390/act10020020

Cited by 31 publications

(23 citation statements)

References 48 publications

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“…It arranges the appropriate transition process by using the tracking differentiator (TD). The differential tracker can be expressed as [28,29]:…”

Section: 2 Design Of the Active Disturbance Rejection Controllermentioning

confidence: 99%

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Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Tan

et al. 2021

Actuators

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The electromagnetic linear actuator is used as the core drive unit to achieve high precision and high response in the direct-drive actuation system. In order to improve the response performance and control accuracy of the linear drive unit, an improved sliding mode-active disturbance rejection control (ISM-ADRC) method was proposed. A motor model was established based on improved LuGre dynamic friction. The position loop adopts the improved integral traditional sliding mode control based on an extended state observer, and the current loop adopts PI control. The stability of the system is verified based on the Lyapunov theory. A nonlinear dilated state observer is used to effectively observe the electromagnetic linear actuator position and velocity information while estimating and compensating the internal and external uncertainty perturbations. At the same time, the saturation function sat(s) is used to replace the sign(s) and introduce the power function of the displacement error variable. The improved integral sliding mode control law further improves the response speed and control accuracy of the controller while reducing the jitter inherent in the conventional sliding mode. Simulation and experimental data show that the proposed improved sliding mode-active disturbance rejection control reduces the 8-mm step response time of the electromagnetic linear actuator by 21.9% and the steady-state error by less than 0.01 mm compared with the conventional sliding-mode control, while the system has 49.4% less adjustment time for abrupt load changes and is more robust to different loads and noise.

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“…It arranges the appropriate transition process by using the tracking differentiator (TD). The differential tracker can be expressed as [28,29]:…”

Section: 2 Design Of the Active Disturbance Rejection Controllermentioning

confidence: 99%

“…The improved sliding mode control law is progressively stable. The specific proof that the tracking differentiator is stable in a finite time is given in paper [28]. Due to space limitations, i will not repeat it.…”

Section: Stability Analysis Of Controllermentioning

confidence: 99%

Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Tan

et al. 2021

Actuators

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“…is the average piston area; It is the ratio coefficient of the area of the two cavities and the mean value of the equivalent volume of the hydraulic cylinder; Is the equivalent area, is the hydraulic cylinder stroke. By solving equation ( 6), equation (7) and equation ( 10) simultaneously, it can be concluded that:…”

Section: Figure 2 Schematic Diagram Of Valve-controlled Asymmetric Hydraulic Cylindermentioning

confidence: 99%

Analysis of energy absorption characteristics of corrugated top beam of anti-impact hydraulic support

Murai

Guo

Xie

2021

Preprint

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To solve the problem that the response of the walking platform of bricklaying robot is slow and uncertain factors such as load change and friction of hydraulic cylinder affect the adjustment accuracy, an electro-hydraulic servo system with four hydraulic cylinders is designed. The system is an improved ADRC method. The available information of the whole system is fully considered, and the piston rod position deviations of the hydraulic cylinder is taken as the input of the whole controller to reduce the phase lag caused by the extended observer and improve the response speed of the control system. The position deviations of the piston rod in a cylinder is compensated by observation, and the high-order term and uncertain disturbance in the whole control system are defined as total disturbance, so the structure of the controller is simplified appropriately. Finally, MATLAB and AMESim are used for simulation analysis. The simulation results show that the improved ADRC method can significantly improve the response speed of the system and the suppression of uncertain disturbance. This research provides a theoretical basis for the research of masonry robot mobile platforms.

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“…In addition to chattering, it is usually required to know the model uncertainties and the limit value of disturbance in the design process of the SMC [31]. However, in practice, the limit value is not always obtainable [32]. Even after disturbance compensation, the limit value of disturbance compensation error is not easy to obtain.…”

Section: Introductionmentioning

confidence: 99%

Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

et al. 2022

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The electro-optical tracking system (ETS) on moving platforms is affected by the vibration of the moving carrier, the wind resistance torque in motion, the uncertainty of mechanisms and the nonlinear friction between frames and other disturbances, which may lead to the instability of the electro-optical tracking platform. Sliding mode control (SMC) has strong robustness to system disturbances and unknown dynamic external signals, which can enhance the disturbance suppression ability of ETSs. However, the strong robustness of SMC requires greater switching gain, which causes serious chattering. At the same time, the tracking accuracy of SMC has room for further improvement. Therefore, in order to solve the chattering problem of SMC and improve the tracking accuracy of SMC, an SMC controller based on internal model control (IMC) is proposed. Compared with traditional SMC, the proposed method can be used to suppress the strongest disturbance with the smallest switching gain, effectively solving the chattering problem of the SMC, while improving the tracking accuracy of the system. In addition, to reduce the adverse influence of sensor noise on the control effect, lifting wavelet threshold de-noising is introduced into the control structure to further improve the tracking accuracy of the system. The simulation and experimental results verify the superiority of the proposed control method.

show abstract

Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Cited by 31 publications

References 48 publications

Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System

Analysis of energy absorption characteristics of corrugated top beam of anti-impact hydraulic support

Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

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