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Appl. Sci. 2016, 6(4), 98; doi:10.3390/app6040098

Hybrid Robust Control Law with Disturbance Observer for High-Frequency Response Electro-Hydraulic Servo Loading System

and
†,*
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Academic Editor: Chien-Hung Liu
Received: 23 December 2015 / Revised: 25 March 2016 / Accepted: 28 March 2016 / Published: 6 April 2016

Abstract

Addressing the simulating issue of the helicopter-manipulating booster aerodynamic load with high-frequency dynamic load superimposed on a large static load, this paper studies the design of the robust controller for the electro-hydraulic loading system to realize the simulation of this kind of load. Firstly, the equivalent linear model of the electro-hydraulic loading system under assumed parameter uncertainty is established. Then, a hybrid control scheme is proposed for the loading system. This control scheme consists of a constant velocity feed-forward compensator, a robust inner loop compensator based on disturbance observer and a robust outer loop feedback controller. The constant velocity compensator eliminates most of the extraneous force at first, and then the double-loop cascade composition control strategy is employed to design the compensated system. The disturbance observer–based inner loop compensator further restrains the disturbances including the remaining extraneous force, and makes the actual plant tracking a nominal model approximately in a certain frequency range. The robust outer loop controller achieves the desired force-tracking performance, and guarantees system robustness in the high frequency region. The optimized low-pass filter Q(s) is designed by using the H∞ mixed sensitivity optimization method. The simulation results show that the proposed hybrid control scheme and controller can effectively suppress the extraneous force and improve the robustness of the electro-hydraulic loading system. View Full-Text
Keywords: electro-hydraulic servo loading system; extraneous force; feed-forward compensation; disturbance observer; robust control electro-hydraulic servo loading system; extraneous force; feed-forward compensation; disturbance observer; robust control
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Sheng, Z.; Li, Y. Hybrid Robust Control Law with Disturbance Observer for High-Frequency Response Electro-Hydraulic Servo Loading System. Appl. Sci. 2016, 6, 98.

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