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Related Experiment Video

Updated: Nov 12, 2025

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Linear active disturbance rejection control for the electro-hydraulic position servo system.

Kunshan Jin1, Jianli Song2,3, Yongtang Li1

  • 1Shanxi Key Laboratory of Metallic Materials Forming Theory and Technology, Taiyuan University of Science & Technology, Taiyuan, P. R. China.

Science Progress
|March 15, 2021
PubMed
Summary

A new linear active disturbance rejection control (LADRC) method effectively estimates and rejects disturbances in electro-hydraulic servo systems. This advanced control strategy improves performance for valve-controlled asymmetric cylinders.

Keywords:
Valve-controlled asymmetric cylinderdisturbanceelectro-hydraulic servo system (EHSS)linear active disturbance rejection control (LADRC)linear extended state observer (LESO)

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Area of Science:

  • Control Engineering
  • Hydraulic Systems
  • Robotics

Background:

  • Electro-hydraulic servo systems (EHSS) with valve-controlled asymmetric cylinders are crucial for servo loading applications.
  • These systems exhibit inherent complexities including high-order nonlinearity, strong coupling, and uncertainties, challenging conventional control methods.
  • Existing control strategies often fall short of meeting high-performance control requirements for these demanding applications.

Purpose of the Study:

  • To propose a novel linear active disturbance rejection control (LADRC) method for enhancing the control performance of EHSS.
  • To address the limitations of conventional control strategies in managing nonlinearities and uncertainties in these systems.
  • To provide a robust and effective control solution for valve-controlled asymmetric cylinders in servo loading systems.

Main Methods:

  • A third-order linear extended state observer (LESO) was employed for real-time estimation of internal and external disturbances.
  • A control law integrating proportional integral (PID) control with acceleration feed-forward was utilized to reject estimated disturbances.
  • The stability of the proposed LADRC method was rigorously proven through theoretical analysis.

Main Results:

  • Simulation studies revealed the influence rules of LADRC parameters on overall control performance.
  • Experimental comparisons demonstrated that the proposed LADRC method effectively compensates for system disturbances.
  • The LADRC approach successfully achieved the desired control objectives, outperforming traditional PID control.

Conclusions:

  • The proposed linear active disturbance rejection control (LADRC) method offers a superior approach for controlling complex electro-hydraulic servo systems.
  • Real-time disturbance estimation and rejection by LADRC significantly enhance system stability and performance.
  • This method provides a viable and effective solution for achieving high-performance control in challenging servo loading applications.