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Related Experiment Video

Updated: Jun 5, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

Cascade control method for hydraulic secondary regulation drive system based on adaptive robust control.

Xiaochao Liu¹, Zhenyu Wang², Zhongyi Qiu²

¹School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.

ISA Transactions

|December 5, 2024

Summary

This study introduces a new cascaded control method for hydraulic drive systems, significantly improving position tracking accuracy. The adaptive robust control approach enhances performance over traditional methods for high-order systems.

Keywords:

Adaptive robust control Cascaded control Disturbance compensation Hydraulic secondary regulation system Position control

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Area of Science:

Control Systems Engineering
Hydraulic Systems
Robotics

Background:

Hydraulic secondary regulation drive systems face challenges like high inertia and low damping, limiting control accuracy.
Traditional adaptive robust control methods are insufficient for these high-order systems.

Purpose of the Study:

To develop an advanced control strategy for hydraulic secondary regulation drive systems.
To enhance position tracking accuracy and overcome system limitations.

Main Methods:

A fifth-order model was developed, incorporating load inertia.
A cascaded control approach with inner and outer loops was implemented.
Adaptive robust control and swashplate disturbance compensation were utilized.
A cascaded Lyapunov function ensured stability.

Main Results:

The proposed method achieved superior position tracking accuracy compared to dual-PID and traditional adaptive robust control.
Accuracy improvements ranged from 50-80% over dual-PID and 30-40% over traditional methods.
Performance was validated under sinusoidal commands at 0.1 Hz and 0.25 Hz.

Conclusions:

The cascaded adaptive robust control approach effectively addresses the challenges of high-order hydraulic drive systems.
This method offers significant improvements in position tracking accuracy and system stability.