Active Disturbance Rejection Adaptive Control for Hydraulic Lifting Systems with Valve Dead-Zone
Abstract
:1. Introduction
2. System Description
3. Controller Design
3.1. Discontinuous Mapping and Parameter Adaptive Law
3.2. Disturbance Observer Design
3.3. Controller Design
3.4. Stability Analysis
4. Simulation Results
- (1)
- ADRAC: This controller was introduced in Section 3, and the controller parameters were provided by , , , Γ = diag {1.1 × 10−4, 10.5, 4 × 10−3, 2.6 × 10−9, 1.8 × 106, 3.5 × 10−7}, a2 = 1, a3 = 0.01, c2 = 0.01, c3 = 0.01, ωo1 = 200, ωo2 = 200, θmax = [1, 10, 1, 1 × 10−2, 2 × 105, 1 × 10−7]T, and θmin = [0, 0, 0, 0, 1 × 102,−1 × 10−7]T. The initial parameter estimation values were set as .
- (2)
- ADRC: This is an active disturbance rejection control without parameter adaption. The difference between the ADRC and the ADRAC was that the parameter adaption matrix was set as in the ADRC. The other control parameters were the same as the ADRAC.
- (3)
- AC: This is an adaptive controller without disturbance compensation. The difference between the AC and the ADRAC was that the observer parameters were set as ωo1 = 0 and ωo2 = 0 in AC. The other control parameters were the same as the ADRAC.
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Parameter | Value | Parameter | Value |
---|---|---|---|
m (kg) | 10,000 | ) | 2.5 × 105 |
) | 1.5 × 105 | ) | 3 × 103 |
Ps (Pa) | 2.1 × 106 | ) | 7.937× 10−8 |
Pr (Pa) | 0 | (Pa) | 7 × 108 |
A1 (m2) | 3.14 × 10−2 | ) | 9.6 × 10−13 |
A2 (m2) | 1.6 × 10−2 | L1 (m) | 1.6 |
V01 (m3) | 3.1416 × 10−4 | L2 (m) | 2 |
V02 (m3) | 3.04 × 10−2 | L3 (m) | 3.5 |
g (m/s2) | 9.8 | L4 (m) | 3 |
(rad) | 0.2648 | (rad) | 0.2618 |
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Yang, F.; Zhou, H.; Deng, W. Active Disturbance Rejection Adaptive Control for Hydraulic Lifting Systems with Valve Dead-Zone. Electronics 2022, 11, 1788. https://doi.org/10.3390/electronics11111788
Yang F, Zhou H, Deng W. Active Disturbance Rejection Adaptive Control for Hydraulic Lifting Systems with Valve Dead-Zone. Electronics. 2022; 11(11):1788. https://doi.org/10.3390/electronics11111788
Chicago/Turabian StyleYang, Fengbo, Hongping Zhou, and Wenxiang Deng. 2022. "Active Disturbance Rejection Adaptive Control for Hydraulic Lifting Systems with Valve Dead-Zone" Electronics 11, no. 11: 1788. https://doi.org/10.3390/electronics11111788