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Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator

Jiangsu Province Key Laboratory of Aerospace Power System, College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao St., Qinhuai Dist., Nanjing 210016, China
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Actuators 2020, 9(4), 112; https://doi.org/10.3390/act9040112
Received: 30 September 2020 / Revised: 2 November 2020 / Accepted: 5 November 2020 / Published: 9 November 2020
(This article belongs to the Section High Torque/Power Density Actuators)
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. View Full-Text
Keywords: hydraulic cylinder; active disturbance rejection control; displacement control; nonlinear disturbance hydraulic cylinder; active disturbance rejection control; displacement control; nonlinear disturbance
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MDPI and ACS Style

Wang, B.; Ji, H.; Chang, R. Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator. Actuators 2020, 9, 112. https://doi.org/10.3390/act9040112

AMA Style

Wang B, Ji H, Chang R. Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator. Actuators. 2020; 9(4):112. https://doi.org/10.3390/act9040112

Chicago/Turabian Style

Wang, Bin, Hengyu Ji, and Rui Chang. 2020. "Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator" Actuators 9, no. 4: 112. https://doi.org/10.3390/act9040112

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