Research on Feedforward-Feedback Composite Anti-Disturbance Control of Electro-Hydraulic Proportional System Based on Dead Zone Compensation

Abstract

Considering the complexity and difficulty of obtaining certain parameters in the electro-hydraulic proportional control system, a precise transfer function of the system was derived through parameter identification using experimental data obtained from an Amesim simulation model after establishing a basic mathematical model. This approach reduces the reliance on accurate parameters of individual components. A feedforward-feedback composite controller was designed, and its effectiveness was validated in Simulink using the system’s transfer function. Subsequently, the dead zone range of the proportional valve was determined through experiments, and a dead zone compensation strategy was designed, which reduced the time required for the proportional valve to traverse the dead zone by 89.4%. Based on the dead zone compensation, trajectory tracking experiments were conducted to validate the effectiveness of the feedforward-feedback composite controller. Under fixed disturbances, the trajectory tracking error was reduced by 53.8% compared to feedback control. Under time-varying load disturbances, the trajectory tracking error was reduced by 51.2% compared to feedback control.