关键词: 比例伺服阀, 磁滞, 液动力, 自适应控制, 扩张状态观测器

Abstract: Proportional servo valves are core components in defense heavy-duty hydraulic drive systems such as missile launchers, tanks and artilleries. Due to the complex dynamic characteristics constraining their spool motion systems – including hysteresis, flow force, and Stribeck friction– conventional proportional integral derivative (PID) controller struggles to overcome inherent performance limitations. An adaptive active disturbance rejection controller (AADRC) for electro-hydraulic proportional servo valves is proposed, integrating a parameter adaptation law with an extended state observer (ESO). This approach involves establishing a state-space model of the position loop for spool motion, revealing its nonlinear dynamic coupling mechanisms. To address parameter uncertainties such as hydraulic valve spring stiffness and viscous damping coefficient, a parameter adaptation law is designed for online estimation of unknown parameters, while an ESO compensates dynamically for the coupled nonlinear disturbances arising from hysteresis, flow force, and unmodeled friction. Based on Lyapunov stability theory, the controller is strictly proven to guarantee the global uniform ultimate boundedness (GUUB) of the closed-loop system states, parameter estimation errors, and disturbance observation errors. Comparative experimental results demonstrate that the proposed AADRC: achieves the smallest steady-state tracking error under both low-speed (0.5 Hz) and high-speed (2 Hz) sinusoidal conditions when compared to PID controllers and nominal model-based robust controllers; effectively overcomes the lag during reversal in triangular wave conditions.

Key words: proportional servo valve, hysteresis, flow force, adaptive control, extended state observer