title: A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system.
abstract: In order to enhance the anti-jamming ability of electro-hydraulic position servo control system at the same time improve the control precision of the system, a compound control strategy that combines velocity compensation with Active Disturbance Rejection Controller (ADRC) is proposed, and the working principle of the compound control strategy is given. ADRC controller is designed, and the extended state observer is used for observing internal parameters uncertainties and external disturbances, so that the disturbances of the system are suppressed effectively. Velocity compensation controller is designed and the compensation model is derived to further improve the positioning accuracy of the system and to achieve the velocity compensation without disturbance. The compound control strategy is verified by the simulation and experiment respectively, and the simulation and experimental results show that the electro-hydraulic position servo control system with ADRC controller can effectively inhibit the external disturbances, the precise positioning control is realized after introducing the velocity compensation controller, and verify that the compound control strategy is effective.
authors.affiliation: College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China. Electronic address: gaobingwei_happy@163.com.
authors.forename: Bingwei
authors.initials: B
authors.lastname: Gao
authors.affiliation: College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China.
authors.forename: Junpeng
authors.initials: J
authors.lastname: Shao
authors.affiliation: College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China.
authors.forename: Xiaodong
authors.initials: X
authors.lastname: Yang
keywords: ADRC; Compensation model; Electro-hydraulic position servo control system; Extended state observer; Velocity compensation