Neural Network Based Active Disturbance Rejection Control of a Novel Electrohydraulic Servo System for Simultaneously Balancing and Positioning by Isoactuation Configuration

Abstract

To satisfy the lightweight requirements of large pipe weapons, a novel electrohydraulic servo (EHS) system where the hydraulic cylinder possesses three cavities is developed and investigated in the present study. In the EHS system, the balancing cavity of the EHS is especially designed for active compensation for the unbalancing force of the system, whereas the two driving cavities are employed for positioning and disturbance rejection of the large pipe. Aiming at simultaneously balancing and positioning of the EHS system, a novel neural network based active disturbance rejection control (NNADRC) strategy is developed. In the NNADRC, the radial basis function (RBF) neural network is employed for online updating of parameters of the extended state observer (ESO). Thereby, the nonlinear behavior and external disturbance of the system can be accurately estimated and compensated in real time. The efficiency and superiority of the system are critically investigated by conducting numerical simulations, showing that much higher steady accuracy as well as system robustness is achieved when comparing with conventional ADRC control system. It indicates that the NNADRC is a very promising technique for achieving fast, stable, smooth, and accurate control of the novel EHS system.

A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System

“…where the definition of was defined in (30). Because is selected to be Hurwitz, we conclude that converges exponentially to zero.…”

“…For instance, the model can be extended to a three-dimensional case, which represents a container inside which a heavy object can slide freely due to load and unload maneuvers, where we want to prevent the object from hitting and damaging. Finally, we mention that this model can be considered as a simplification of the ball and plate system or the ball and beam system if the radius ball is considered in the model [30,31].…”

Modeling and Oil Contamination Influence Control of a Vehicle Mounted and Unbalanced Barrel Pitching System

“…Based on equations (3)- (5) and 7, the continuous flow equation of hydraulic pump and cylinder can be obtained as follows:…”

“…Balancing machine balance can achieve light-weight requirements to a certain extent, but it is difficult to achieve compact requirements because of additional mechanical configuration. erefore, Gao et al [5] gave a new type of servo system to balance and control the unbalanced barrel, which uses the balance chamber of the three-chamber hydraulic cylinder to compensate the unbalanced force, and the two drive chambers are used for position and interference suppressing, which can achieve precise control of large diameter unbalanced barrel pitching system. Aiming at overcoming road fluctuation's influence, Zhao [6] established a dynamic stability model of the barrel's direct stability system, and analyzed the stability accuracy of the system to compensate the road fluctuation, which has important theoretical value.…”

Active torque control for gear dynamic load suppression in a drum shearer cutting transmission system under impact loads

“…Additionally, the constancy of the intrinsic parameters of the traditional ADRC controller limits the adaptive ability of the ADRC controller under different work conditions. Hence, the neural network and fuzzy control technologies have been adopted to tune the ADRC controller parameters in other application areas (Gao et al., 2016; Zhong et al., 2015). However, although the neural network control elicits an effective adaptive approximation capability, nevertheless, it has a poor reasoning capability.…”