Disturbance observer based position tracking of electro-hydraulic actuator

作     者：国凯 魏建华 田启岩 GUO Kai;WEI Jian-hua;TIAN Qi-yan

作者机构：State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University) 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2015年第22卷第6期

页      面：2158-2165页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China Project(2012AA041801)supproted by the High-tech Research and Development Program of China 

主　　题：electro-hydraulic system single-rod actuator disturbance observer external disturbance parameter uncertainty 

摘      要：A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.