Active Disturbance Rejection Control for Electro-hydraulic Proportional Servo Force Loading

： To solve the problem of rough force control precision in electro-hydraulic proportional loading system, a cascade controller consisting of a dead-zone inverse compensation and a linear active disturbance rejection controller(LADRC) is proposed. Various disadvantages in the force control system are taken into account, including the non-linearity of the proportional valve dead-zone, hydraulic parameter perturbation, unknown external disturbances and so on. Based on the analysis of the mechanism of the electro-hydraulic proportional force loading system model, a second-order LADRC is designed, according to the relative order of the system. The “generalized disturbances” are estimated by a linear extended state observer (LESO) and compensated by a linear state error feedback control law(LSEF). In addition, the dead-zone inverse model is constructed to deal with the system output lag problem caused by the proportional valve dead-zone. The extensive comparative experiments show that the proposed approach improves the dynamic and static characteristics of the electro-hydraulic proportional loading system, achieves higher accuracy of force control, and possesses strong robustness and anti-interference, provides reference for engineering application.

[1]  Zongxia Jiao,et al.  Motion Synchronous Composite Decoupling with Fewer Sensors on Multichannel Hydraulic Force Control for Aircraft Structural Loading Test System , 2018, Sensors.

[2]  Jianyong Yao,et al.  Robust Adaptive Control of Hydraulic System With Input Saturation and Valve Dead-Zone , 2018, IEEE Access.

[3]  Bin Yao,et al.  Precision Cascade Force Control of Multi-DOF Hydraulic Leg Exoskeleton , 2018, IEEE Access.

[4]  Yang Song,et al.  Adaptive Robust Cascade Force Control of 1-DOF Hydraulic Exoskeleton for Human Performance Augmentation , 2017, IEEE/ASME Transactions on Mechatronics.

[5]  Yu Tang,et al.  Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control. , 2017, ISA transactions.

[6]  Weidong Zhu,et al.  Robust force control with a feed-forward inverse model controller for electro-hydraulic control loading systems of flight simulators , 2016 .

[7]  Long Quan,et al.  Nonlinear robust dual-loop control for electro-hydraulic load simulator. , 2015, ISA transactions.

[8]  Nariman Sepehri,et al.  Electrohydraulic force control design of a hardware-in-the-loop load emulator using a nonlinear QFT technique , 2012 .

[9]  Kyoung Kwan Ahn,et al.  Self-tuning of quantitative feedback theory for force control of an electro-hydraulic test machine , 2009 .

[10]  Ying Zhang,et al.  Adaptive output control of nonlinear systems with uncertain dead-zone nonlinearity , 2006, IEEE Transactions on Automatic Control.

[11]  Zhiqiang Gao,et al.  Scaling and bandwidth-parameterization based controller tuning , 2003, Proceedings of the 2003 American Control Conference, 2003..

[12]  Fucai Liu,et al.  Application of Linear/Nonlinear Active Disturbance Rejection Switching Control in Variable Load Pneumatic Loading System , 2018 .

[13]  Xiwei Peng,et al.  Electro-hydraulic Proportional Servo Control Based on Iterative Learning Algorithm , 2018 .

[14]  Kaixian Ba,et al.  Position/Force-based Impedance Control and Their Experimental Research on Hydraulic Drive Unit , 2017 .

[15]  Gao Bing-we,et al.  Fuzzy switching control between position and force for electro-hydraulic servo system , 2014 .

[16]  Liu Fu-ca,et al.  Fuzzy Adaptive Inverse Control for Pneumatic Loading System , 2014 .

[17]  Zhiqiang Gao,et al.  On the foundation of active disturbance rejection control , 2013 .