title: Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory.
abstract: Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method.
authors.affiliation: School of Mechanical Engineering/Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China; Post-Doctoral Working Station, Taiyuan Economic Zone, Taiyuan 030000, China. Electronic address: cwwang@yeah.net.
authors.forename: Chengwen
authors.initials: C
authors.lastname: Wang
authors.affiliation: School of Mechanical Engineering/Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China. Electronic address: quanlong@tyut.edu.cn.
authors.forename: Long
authors.initials: L
authors.lastname: Quan
authors.affiliation: Xuji Group Corporation, State Grid Corporation of China, Xvchang 461000, China.
authors.forename: Shijie
authors.initials: S
authors.lastname: Zhang
authors.affiliation: School of Mechanical Engineering/Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China.
authors.forename: Hongjun
authors.initials: H
authors.lastname: Meng
authors.affiliation: School of Mechanical Engineering/Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China.
authors.forename: Yuan
authors.initials: Y
authors.lastname: Lan
keywords: Active disturbance rejection control (ADRC); Hydraulic servomechanism; Mismatched uncertainties input; Reduced-order model; Singular value perturbation theory