| Citation: | GUO Xinping, WANG Chengwen, LIU Hua, et al. Extended-state-observer based sliding mode control for pump-controlled electro-hydraulic servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(6): 1159-1168. doi: 10.13700/j.bh.1001-5965.2019.0418(in Chinese)
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A sliding mode position tracking control strategy based on extended state observer is proposed for pump-controlled electro-hydraulic servo system. The mathematical model of the system is processed by reducing order using singular perturbation theory, and the mathematical model of reduced-order pump-controlled electro-hydraulic position servo system is obtained. Aimed at the complexity of pump-controlled electro-hydraulic servo system and the disturbance of random external load, an extended state observer is designed to estimate the disturbance on-line. Besides providing the estimations of disturbances, the observer can also estimate the position and velocity of piston rod. Based on the sliding mode control theory, a sliding mode variable structure control algorithm is designed using the estimations of disturbance and speed. The stability of the proposed control strategy is analyzed. Co-simulation model of pump-controlled electro-hydraulic servo system was conducted using MATLAB/Simulink and AMESim. The feasibility and effectiveness of the algorithm are verified by co-simulation. The simulation results show that the extended state observer can accurately estimate the disturbance. The position tracking performance of the proposed extended-state-observer based sliding mode control strategy is significantly better than that of PID controller and traditional sliding mode controller, and it has strong robustness to external disturbance, which improves the control performance of the pump-controlled electro-hydraulic servo system.
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