Adaptive Active Disturbance Rejection Control for Electrohydraulic Proportional Servo Valve

doi:10.12382/bgxb.2025.0171

Abstract

Abstract:

Proportional servo valves are the core components in defense heavy-duty hydraulic drive systems such as missile launcher,tank and artillery.Due to the fact that the spool motion system is constrained by the complex dynamic characteristics such as hysteresis,flow force and Stribeck friction,the conventional proportional integral derivative (PID) control method is unable to overcome the inherent performance limitations.An adaptive active disturbance rejection controller (AADRC) for electro-hydraulic proportional servo valves is proposed,which integrates a parameter adaptation law with an extended state observer (ESO).A state-space model of the position loop for spool motion is established,revealing its nonlinear dynamic coupling mechanisms.To address the parameter uncertainties such as hydraulic valve spring stiffness and viscous damping coefficient,a parameter adaptation law is designed for online estimation of unknown parameters,and an ESO is utilized to compensate dynamically for the coupled nonlinear disturbances arising from hysteresis,flow force and unmodeled friction.Based on Lyapunov stability theory,it is rigorously proved that the controller is used to guarantee the global uniform ultimate boundedness (GUUB) of the closed-loop system’s states,parameter estimation errors and disturbance observation errors.Experimental results demonstrate that the proposed AADRC exhibits the smallest steady-state tracking error under both low-speed (0.5Hz) and high-speed (2Hz) sinusoidal conditions compared to PID controller and nominal model-based robust controller,and effectively overcomes the lag during reversing in triangular wave conditions.

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

CLC Number:

TH137.52+3

ZHOU Ning, QIU Zhi, SU Qi, DENG Wenxiang, LI Dongming, PAN Hongbo, ZHANG Guoliang, YAO Jianyong. Adaptive Active Disturbance Rejection Control for Electrohydraulic Proportional Servo Valve[J]. Acta Armamentarii, 2025, 46(11): 250171-.

Figures/Tables 16

Fig.1 Structure and principle of proportional servo valve

Fig.2 Control architecture of proportional servo valve

Fig.3 Nonlinear hysteresis of electromagnetic drive force

Fig.4 Nonlinear steady flow force

Fig.5 Framework of the developed AADRC

Fig.6 Test rig for basic performance of hydraulic valves

Table 1 Parameters of valve model and work conditions

参数	数值	参数	数值
m/kg	0.15	B_m/(N·m^-1·s^-1)	80
k_I/(N·A^-1)	42.5	F_s/N	62
p_s/MPa	7	p_t/MPa	0

Fig.7 Tracking performances of three controllers under Condition 1

Fig.8 Tracking errors of three controllers under Condition 1

Table 2 Performance index of each controller under Condition 1

指标	e_max/mm	μ/mm	σ/mm
AADRC	0.0295	0.0097	0.0108
MRC	0.0322	0.0164	0.0187
PID	0.0776	0.0156	0.0204

Fig.9 Parameter estimation of AADRC under Condition 1

Fig.10 Tracking errors of three controllers under Condition 2

Table 3 Performance index of each controller under Condition 2

指标	e_max/mm	μ/mm	σ/mm
AADRC	0.0737	0.0388	0.0436
MRC	0.0916	0.0430	0.0473
PID	0.0953	0.0452	0.0499

Fig.11 Tracking performances of three controllers under Condition 3

Fig.12 Tracking errors of three controllers under Condition 3

Table 4 Performance index of each controller under Condition 3

指标	M_e/mm	μ/mm	σ/mm
AADRC	0.0255	0.0063	0.0075
MRC	0.0245	0.0093	0.0100
PID	0.0490	0.0057	0.0072

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