文章基本信息

标题：Extended state observer–based fractional order proportional–integral–derivative controller for a novel electro-hydraulic servo system with iso-actuation balancing and positioning:
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作者：Qiang Gao ; Yuanlong Hou ; Tongbin Deng 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：12
页码：1-11
DOI：10.1177/1687814015620736
语种：English
出版社：Sage Publications Ltd.
摘要：Aiming at balancing and positioning of a new electro-hydraulic servo system with iso-actuation configuration, an extended state observer–based fractional order proportional–integral–derivative controller is proposed in this study. To meet the lightweight requirements of heavy barrel weapons with large diameters, an electro-hydraulic servo system with a three-chamber hydraulic cylinder is especially designed. In the electro-hydraulic servo system, the balance chamber of the hydraulic cylinder is used to realize active balancing of the unbalanced forces, while the driving chambers consisting of the upper and lower chambers are adopted for barrel positioning and dynamic compensation of external disturbances. Compared with conventional proportional–integral–derivative controllers, the fractional order proportional–integral– derivative possesses another two adjustable parameters by expanding integer order to arbitrary order calculus, resulting in more flexibility and stronger robustness of the control system. To better compensate for strong external disturbances and system nonlinearities, the extended state observer strategy is further introduced to the fractional order propor?tional–integral–derivative control system. Numerical simulation and bench test indicate that the extended state observer–based fractional order proportional–integral–derivative significantly outperforms proportional–integral–deriva?tive and fractional order proportional–integral–derivative control systems with better control accuracy and higher sys?tem robustness, well demonstrating the feasibility and effectiveness of the proposed extended state observer–based fractional order proportional–integral–derivative control strategy.
关键词：Electro-hydraulic servo system; iso-actuation balancing and positioning; fractional order proportional–integral–derivative; extended state observer