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High-Precision Position Tracking Control of Electro-hydraulic Servo Systems Based on an Improved Structure and Desired Compensation

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  • Control Theory and Applications
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Abstract

How to improve the position tracking accuracy of electro-hydraulic servo system is a hot issue today. Full state feedback control has received widespread attention for its ability to significantly improve control performance, however, its practical application range is limited in view of the large influence of measurement noise. In terms of this issue, we propose an adaptive robust controller based on improved structure and desired compensation. Firstly, to reduce the impact of measurement noise, the actual state value is substituted by the corresponding desired value in the controller design based on model compensation and the adaptive model compensator. Then, we introduce a new auxiliary variable into the controller to optimize its structure. In addition, nonlinear robust control laws are integrated in the controller to balance unstructured uncertainties. Simulation analysis shows that the proposed control strategy not only achieves the asymptotic tracking when parameter perturbation exists, but also ensures a specified transient response and final tracing precision under the combined influence of structured and unstructured uncertainties. The results indicate that the control strategy has good control accuracy as well as strong robustness.

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Authors and Affiliations

  1. Department of Mechatronics Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Wei Shen & Xinyu Liu

  2. School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China

    Xiaoyu Su

Authors
  1. Wei Shen
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  2. Xinyu Liu
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  3. Xiaoyu Su
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Corresponding author

Correspondence to Wei Shen.

Additional information

Recommended by Associate Editor Xian-Ming Zhang under the direction of Editor PooGyeon Park

The authors acknowledge the contribution of the National Natural Science Foundation of China (51975376), the Natural Science Foundation of Shanghai, China (19ZR1435400), and the National Key Research and Development Program of China (2020YFB2009900).

Wei Shen received his Ph.D. degree in mechatronic engineering from Harbin Institute of Technology in 2014. He is currently an associate professor with the Faculty of Mechatronic Engineering, University of Shanghai for Science and Technology, China. His research interests include control systems and energy-saving research of hydraulic systems.

Xinyu Liu received his Bachelor’s degree in mechanical manufacturing and automation from Donghua University, Shanghai, China, in 2018. His current research interests include hydraulic system, nonlinear system and robust control.

Xiaoyu Su received her Ph.D. degree in control theory and control engineering from Harbin Engineering University in 2014. She is currently a lecturer with the Department of Automation, Shanghai University of Engineering Science, China. Her research interests are in the area of robust control systems and optimization algorithm research.

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Shen, W., Liu, X. & Su, X. High-Precision Position Tracking Control of Electro-hydraulic Servo Systems Based on an Improved Structure and Desired Compensation. Int. J. Control Autom. Syst. 19, 3622–3630 (2021). https://doi.org/10.1007/s12555-020-0705-1

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  • DOI: https://doi.org/10.1007/s12555-020-0705-1

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