Active Disturbance Rejection Control Of The Novel Variable Speed Direct Drive Pumping System

Concrete pump truck is a special construction machinery to realize the rapid delivery and pouring of concrete, which is widely used in transportation, energy, construction, national defense engineering and other fields. The pumping system is the core of concrete pump truck. The paper presents a new structure of variable speed direct drive pumping system, then describes the structure and working principle of the new concrete pumping system, establishes the mathematical model, and creates multiphasic simulation model with AMESim, The operation rule of pumping system is expounded. An Active Disturbance Rejection Control is used to precisely control the displacement of concrete cylinder. The control characteristics of ADRC are studied in a simulated system under the condition of time-varying parameters and load disturbance, and the influence of controller parameters on the control characteristics of the system is analyzed. The simulation results show that ADRC is very suitable for electro-hydraulic servo system, with high control accuracy and easy to implement. The study provides a reference for the application of ADRC in the field of construction machinery.