Active Disturbance Rejection Force Synchronization Control for Pump-controlled Multi-link Erection System

doi:10.12382/bgxb.2023.0318

Abstract

Abstract:

The pump-controlled multi-link erection system has the issues of nonlinearity, model uncertainty and force fighting arising from asynchronous motion., An active disturbance rejection force synchronization control strategy is proposed for such a dual-cylinder erection system. Considering the kinematic characteristics of the multi-link erection mechanism and the pressure-flow dynamics of the closed pump-controlled hydraulic system, a dynamical model of multi-link erection system is established. The system disturbances and model uncertainties are estimated by the extended state observer to compensate for them in the controller design process, while a composite force synchronization control method is integrated to enhance the system to overcome the force fighting caused by unbalance load and external disturbances. Based on Lyapunov theory, the multi-link dual-cylinder erection system can achieve asymptotic tracking and force synchronization performance. Finally, the effectiveness of the proposed active disturbance rejection force synchronization control strategy is verified by the comparative experiments of medium-speed and rapid-speed constant-power erections, and the excellent erection tracking and force synchronization control performance is obtained.

Key words: multi-link erection system, pump-controlled system, active disturbance rejection control, force synchronization control

CLC Number:

TJ768.2

ZHU Weilin, YAO Jianyong, LIU Jiahui, LI Lan, ZHANG Jialin. Active Disturbance Rejection Force Synchronization Control for Pump-controlled Multi-link Erection System[J]. Acta Armamentarii, 2024, 45(6): 1906-1920.

Figures/Tables 26

Fig.1 Two erection schemes

Fig.2 Motion sketch of multi-link erection mechanism

Fig.3 Erection force curves

Fig.4 Schematic diagram of closed pump-controlled hydraulic system

Fig.5 Schematic diagram of ADR-FSC strategy for the pump-controlled multi-link erection system

Fig.6 Experimental platform of multi-link erection system

Fig.7 Electro-hydrostatic actuator

Table 1 Parameters of multi-link erection experiment

参数	数值	参数	数值
J/(kg·m²)	2.6×10⁵	V_0Z/m³	1.075×10^-4
k_ω/(r·min^-1·V^-1)	300	V_0F/m³	0.0283
D_p/(m³·rev^-1)	1.8×10^-4	C_t/(m³·s^-1·Pa^-1)	4.82×10^-13
A_1Z/m²	0.0269	C_p/(m³·s^-1·Pa^-1)	2.56×10^-11
A_1F/m²	0.0068	B_f/(N·m·s·rad^-1)	80000
A_2Z/m²	0.0143	A_f/(N·m)	3500
A_2F/m²	0.0048	β_e/Pa	7×10⁸

Fig.8 Desired erection trajectory

Fig.9 Tracking performance under ADR-FSC in Case 1

Fig.10 Comparison of tracking errors for the erection angle in Case 1

Table 2 Performance indexes of erection angle tracking in Case 1

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.3144	0.1140	0.0874
ADR	0.4328	0.1300	0.1073
PID-CC	1.1519	0.4255	0.2429

Fig.11 Comparison of synchronization errors for the erection angle in Case 1

Fig.12 Comparison of synchronization errors for the erection force in Case 1

Table 3 Synchronization indexes of erection angle in Case 1

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.0500	0.0107	0.0065
ADR	0.1369	0.0344	0.0211
PID-CC	0.1872	0.0559	0.0288

Table 4 Synchronization indexes of erection force in Case 1

控制器	M_e/N	μ/N	σ/N
ADR-FSC	2944	842	513
ADR	7623	2895	1730
PID-CC	9495	3050	1820

Fig.13 Pressure curves under ADR-FSC in Case 1

Fig.14 Control inputs of ADR-FSC in Case 1

Fig.15 Tracking performance under ADR-FSC in Case 2

Fig.16 Comparison of tracking errors for the erection angle in Case 2

Tab.5 Performance indexes of erection angle tracking in Case 2

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.4573	0.1532	0.1166
ADR	0.5607	0.1696	0.1454
PID-CC	1.6514	0.4334	0.4365

Fig.17 Comparison of synchronization errors for the erection angle in Case 2

Fig.18 Comparison of synchronization errors for the erection force in Case 2

Table 6 Synchronization indexes of erection angle in Case 2

控制器	M_e/(°)	μ/(°)	σ/(°)
ADR-FSC	0.0687	0.0155	0.0158
ADR	0.1261	0.0415	0.0221
PID-CC	0.1385	0.0691	0.0292

Table 7 Synchronization indexes of erection force in Case 2

控制器	M_e/N	μ/N	σ/N
ADR-FSC	4210	871	560
ADR	6746	3712	1794
PID-CC	9262	3869	1954

Fig.19 Pressure curves under ADR-FSC in Case 2

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