Research on Active Disturbance Rejection Control Based on Position Disturbance Electro-hydraulic Servo Force

A position-disturbing force servo loading system consisting of two opposing hydraulic cylinders, a hydraulic loading cylinder and a bearing hydraulic cylinder, is the most common loading form. Aiming at the problem that the bearing hydraulic cylinder would bring superfluous force to the loading system, a solution to the ADRC controller is proposed. Based on the analysis of the mathematical model of the position disturbance type electro-hydraulic servo force loading mechanism, a first-order linear active disturbance rejection controller is designed according to the relative order of the system. The total disturbance of the system, including the superfluous force, is estimated by the extended state observer, and the linear error feedback control law is used for real-time compensation. The simulation results show that compared with the PID controller, the ADRC controller has better tracking accuracy, higher response speed and stronger robustness, and has the stronger anti-interference ability when the bearing system moves.