Research on control of electro-hydraulic servo system based on third-order linear ADRC

Abstract

Purpose

The purpose of this paper is to design a third-order linear active disturbance rejection controller (LADRC) to improve the response characteristics and robustness of the electrohydraulic servo system.

Design/methodology/approach

The LADRC was designed by replacing the nonlinear functions in each part of ADRC with linear functions or linear combinations, and the parameters of each part of the LADRC were connected with their bandwidth through the pole configuration method to reduce the required tuning parameters, and used an improved grey wolf optimizer to tune the LADRC parameters.

Findings

The anti-interference control simulation and experiment on the LADRC, ADRC and proportion integration differentiation (PID) were carried out to test the robustness, anti-interference ability and superiority of the designed LADRC. The simulation and experiment results showed that the LADRC control and anti-interference control had excellent performance, and because of its simple structure and fewer parameters, LADRC was easier to implement and had a better control effect and anti-interference.

Originality/value

For the problems of parameter perturbation, unknown interference and inaccurate model in the electrohydraulic position servo system, the designed third-order LADRC has good tracking accuracy and anti-interference, has few parameters and is conducive to promotion.

Citation

Gao, B., Zhang, W., Zheng, L. and Zhao, H. (2023), "Research on control of electro-hydraulic servo system based on third-order linear ADRC", Robotic Intelligence and Automation, Vol. 43 No. 3, pp. 301-312. https://doi.org/10.1108/RIA-10-2022-0247