Research On Identification And Active Disturbance Rejection Control Of Continuous Rotary Electro-Hydraulic Servo Motor

The continuous rotary electro-hydraulic servo motor is the core equipment for the simulation turntable of aerospace vehicle,which is directly related to the accuracy of aircraft simulation.The technical requirements of simulation equipment are strict,and it is very important to study the control strategy of continuous rotating electro-hydraulic servo motor system.In practice,there are many problems in the electro-hydraulic servo motor system.For example,friction interference during operation,oil leakage and generation of vibration and noise phenomenon,these uncertainties make the electro-hydraulic servo system highly nonlinear.In order to improve the performance of the continuous rotating electro-hydraulic servo motor system,the parameters of the system model are identified,and the ADRC strategy is proposed to improve the performance index of the continuous rotating electro-hydraulic servo motor system.Firstly,according to the working principle of the valve controlled motor,the mathematical model of the continuous rotary electro-hydraulic servo motor system is established.And the model is transformed into a state space model and the parameters to be identified are given.The input and output data of the system were collected through experiments,and the improved LMS algorithm was used for parameter identification.Compared with the RLS identification,the effectiveness of the improved LMS error identification algorithm is proved,and a more accurate identification model can be obtained.Secondly,the fifth order ADRC is designed for the high order nonlinear system of the continuous rotating electro-hydraulic servo motor.Fifth order TD,fifth order NLSEF and sixth order ESO are designed respectively.According to the empirical method of ADRC parameter setting,the parameters of the controller are determined,and the simulation comparison is carried out to verify the feasibility of the fifth order ADRC.Then,in order to broaden the response frequency band and improve the performance of the system,a composite ADRC is proposed.The Grey Wolf optimization algorithm is used to optimize the controller parameters to solve the problem of parameter setting in the fifth order ADRC.Simulation results show that the composite ADRC can improve the performance of the electro-hydraulic servo motor system.Finally,the system experiment platform is set up,and C++Builder software is used to write the composite ADRC interface and program.The experimental results of the composite ADRC are compared with the simulation results to verify the correctness and effectiveness of the proposed controller.