基于双端预测相位补偿的主动扰动抑制液压马达控制方法
By introducing a dual-end predictive phase compensation mechanism into the hydraulic motor system, forward predictive compensation is performed on the tracking position state and the observation state, which solves the phase lag problem of the hydraulic motor system under complex working conditions, realizes high-precision and robust position tracking control, and enhances the dynamic response and anti-disturbance capability of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DALIAN UNIV OF TECH
- Filing Date
- 2026-05-13
- Publication Date
- 2026-07-17
AI Technical Summary
Existing hydraulic motor systems are unable to achieve high-precision position tracking and have insufficient anti-disturbance capabilities under complex working conditions. Traditional PID control methods are difficult to balance dynamic response speed and steady-state accuracy under parameter changes and external disturbances. Furthermore, the phase lag introduced by the tracking differentiator and extended state observer in existing active disturbance suppression control has not been effectively compensated.
An active disturbance suppression hydraulic motor control method based on dual-end predictive phase compensation is adopted. By establishing a state-space model, a predictive tracking differentiator and an extended state observer are designed to perform forward predictive compensation on the tracking position state and the position observation state, construct a state error signal and generate an uncompensated control quantity. Combined with a nonlinear state feedback control law, online observation and compensation of the system state and total disturbance are realized.
It improves the dynamic response performance and tracking accuracy of the hydraulic motor system under rapidly changing operating conditions, enhances the ability to suppress parameter uncertainties and external load disturbances, improves the robustness and stability of the system, and reduces the risk of observation noise amplification and system chattering.
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Figure CN122216208B_ABST