Three-order hydraulic servo position control system active disturbance rejection control method based on friction compensation

Through the model-free control strategy, the state space model and expansion state observer of the third-order hydraulic servo system are established. Combined with the friction compensation algorithm, the nonlinear time-varying disturbance of the hydraulic servo system is converted into tracking error compensation terms, solving the problem of friction nonlinear influence in the hydraulic servo system, and achieving high-precision and robust control effects.

CN120332299APending Publication Date: 2025-07-18YANSHAN UNIV
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Patent Information

Application Number
CN202510812258.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-06-18
Publication Date
2025-07-18

AI Technical Summary

Technical Problem

The prior art is difficult to effectively suppress the nonlinear impact of friction in hydraulic servo systems, especially in complex environments, resulting in system instability and position error. Traditional friction compensation methods cannot fully describe the details of the system and are susceptible to external disturbances.

Method used

Using a model-free control strategy, nonlinear time-varying disturbances are converted into tracking error compensation terms by establishing a state space model and expansion state observer of the third-order hydraulic servo system, combined with the friction compensation algorithm, and nonlinear friction feedforward compensation control is realized.

Benefits of technology

It significantly improves the control accuracy and robustness of the hydraulic servo system, and can adaptively compensate friction nonlinearity under complex nonlinear conditions, reduce tracking errors, and improve system stability.

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Abstract

The invention provides a three-order hydraulic servo position control system active-disturbance-rejection control method based on friction compensation, and relates to the technical field of fluid transmission and control, and the method comprises the steps: S1, building a state space model of a three-order hydraulic servo position control system, building a linear expansion state observer, and obtaining a linear active-disturbance-rejection controller of the three-order hydraulic servo position control system; s2, nonlinear time-varying disturbance compensated by the third-order hydraulic servo position control system is converted into a tracking error compensation item controlled by a friction compensation algorithm; s3, verifying the stability of the closed-loop third-order hydraulic servo bit control system through error convergence before and after feed-forward compensation; and S4, the control voltage of the third-order hydraulic servo position control system is input, and nonlinear friction feedforward compensation control of the third-order hydraulic servo position control system is achieved. According to the method, a model-free control strategy is adopted, an innovative solution path is provided for friction suppression and self-adaptive friction compensation, and the control precision and robustness of the hydraulic servo system are improved.
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