文章基本信息

标题：Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator
其他标题：Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator
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作者：Bin Wang ; Hengyu Ji ; Rui Chang 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2020
卷号：9
期号：4
页码：112
DOI：10.3390/act9040112
出版社：MDPI Publishing
摘要：A compact and flexible hydraulic double-cylinder actuation scheme is proposed for use in applications, especially where power density is extremely demanding. In view of flexible amounting requirements, long and thin hoses were utilized to connect two cylinders. Affecting the actuation preciseness, volume variation of the hoses caused by pressurized oil and bubbles was the main problem the system encountered. In this study, an active disturbance rejection control (ADRC) strategy was adopted for the improvement of displacement control performance under uncertain external load. After the experimental verification of the necessity of a hose model for the system, a centralized-parameter hose model was constructed where the coefficients are determined on the basis of the experimental data. Additionally, the system and the controller proposed were mathematically modeled. Simulation results shows that the system using ADRC exhibited higher displacement accuracy and better dynamic performance than that using PID (Proportion-Integral-Derivative) or fuzzy PID. ADRC has a stronger disturbance rejection ability. ADRC is an effective solution to nonlinear control of systems with uncertain parameters or various loads.
关键词：hydraulic cylinder; active disturbance rejection control; displacement control; nonlinear disturbance hydraulic cylinder ; active disturbance rejection control ; displacement control ; nonlinear disturbance