Research on Synchronous Control of Active Disturbance Rejection Position of Multiple Hydraulic Cylinders of Digging-Anchor-Support Robot

Ma, Tianbing; Xiangxiang, Guo; Su, Guoyong; Deng, Haishun; Yang, Tao

doi:10.3390/s23084092

Cited by 9 publications

(3 citation statements)

References 24 publications

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“…Many studies have contributed to developing control techniques in the field of the electrohydraulic control system, which provides a feasible way to achieve accurate position control for the DTAAS, e.g., robust position control [ 7 , 8 ], active disturbance rejection control [ 9 , 10 , 11 ], predictive control [ 12 , 13 ], sliding mode control (SMC) [ 14 , 15 , 16 , 17 ], and adaptive control [ 18 , 19 , 20 , 21 ]. Among these methods, SMC is an effective control method for decreasing the disturbances in the nonlinear system because of its strong robustness and quick response [ 22 , 23 ].…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment

Gu,

Wang,

Yan

et al. 2024

Sensors

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This study develops an adaptive sliding mode control approach for a drilling tool attitude adjustment system, aiming at solving the problems of model uncertainties and insufficient ability of disturbance suppression during the regulation behavior. To further improve the performance of the position-tracking loop in terms of response time, tracking accuracy, and robustness, a state observer based on an improved radial basis function is designed to approximate the model uncertainties, a valve dead-zone compensate controller is used to reduce control deviation, an adaptive sliding mode controller is designed to improve the position-tracking precision and attenuate sliding mode chattering. Finally, simulation and experimental results are carried out to verify the observability of the model uncertainties and position-tracking errors of the drilling tool attitude adjustment system, which can effectively improve the position-tracking performance and robustness of the drilling tool attitude adjustment system.

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Section: Introductionmentioning

confidence: 99%

Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment

Gu,

Wang,

Yan

et al. 2024

Sensors

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“…Ref. [30] improves the traditional particle swarm optimization technique by utilizing the principles of genetic algorithm theory. With this update, the algorithm's optimization scope and rates of convergence are increased, and the ADRC parameters can be changed online.…”

Section: Introductionmentioning

confidence: 99%

Research on the Control System of Bearingless Induction Motor Based on Improved Active Disturbance Rejection Control

Wang,

Yang,

Sun

et al. 2024

PIER C

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To enhance the reaction speed, suspension performance, and anti-interference ability of a Bearingless Induction Motor (BIM) operation control system, an improved Active Disturbance Rejection Control (ADRC) technique is proposed. Firstly, the ADRC in the suspension system and the ADRC in the torque system are designed, respectively, using the BIM's mathematical model as the basis. Furthermore, the error integral signal is incorporated into the nonlinear state error feedback control law of the standard ADRC controller. Subsequently, a novel optimal control function is formulated using the fitting method, which is based on the original fal function. This approach effectively mitigates the impact of output signal fluctuations at the inflection point of the fal function. Simultaneously, the RBF neural network technique is employed to autonomously adjust the control parameters of the extended state observer, therefore enhancing the system's observation capability. Ultimately, the classic ADRC control strategy and the IADRC strategy are compared through simulation and experimentation. Simulations and experimental findings demonstrate that the suggested control method enhances the BIM control system's response time and resilience to external disturbance. Additionally, it enhances the levitation performance of the BIM system.

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“…For hydraulic synchronous closed-loop control, scholars have carried out much research [11]. Ma [12] proposed the improved automatic anti-interference controllerimproved particle swarm optimized position synchronous control method to solve the problem of insufficient platform synchronous control accuracy of the multi-hydraulic cylinder group platform of an anchor digging support robot. The results show that the method has better position tracking performance and shorter adjustment time, its stepping signal synchronous error was controlled within 5.0 mm, and the adjustment time was less than 2.55 s. Ding [13] proposed the robust output feedback position controller to solve the problem of the poor robustness of the conventional PID controller of the hydraulic support.…”

Section: Introductionmentioning

confidence: 99%

A Simulation Study of an Electro-Hydraulic Load-Sensitive Variable Pressure Margin Diverter Synchronous Drive System with Time-Varying Load Resistance

Du,

Luo,

Luo

et al. 2024

Processes

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This study aims to address the problem of poor synchronous accuracy when facing a time-varying load in conventional load-sensitive synchronous drive systems. The new electro-hydraulic load-sensitive (EHLS) diverter synchronous drive system was proposed by combining the diverter valve and the EHLS synchronous drive system. The variable pressure margin compensation control was proposed to further improve the system’s synchronous control performance. Based on the system control strategy and component mathematical model, the simulation models of the EHLS, EHLS synchronous, and EHLS diverter synchronous drive systems were established using AMESim, respectively, and the synchronous control performance of the systems was obtained. The simulation results show that the EHLS drive system realized the primary functions of the load-sensitive system and could realize the variable load-sensitive pressure margin control. The EHLS synchronous drive system had poor synchronous control accuracy, but variable pressure compensation valve pressure margin control could be realized. The EHLS diverter synchronous drive system effectively improved the system’s synchronous control performance and diverter synchronous accuracy by variable pressure margin compensation control. The diverter system diverter error was reduced by 40.8%, and the diverter system after the compensation diverter error was reduced by 52.6% when the multi-way valves were fully opening. The system provides the solution for high-performance hydraulic synchronous drives under severe operating conditions.

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Research on Synchronous Control of Active Disturbance Rejection Position of Multiple Hydraulic Cylinders of Digging-Anchor-Support Robot

Cited by 9 publications

References 24 publications

Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment

Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment

Research on the Control System of Bearingless Induction Motor Based on Improved Active Disturbance Rejection Control

A Simulation Study of an Electro-Hydraulic Load-Sensitive Variable Pressure Margin Diverter Synchronous Drive System with Time-Varying Load Resistance

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