基于事件触发和扩展状态观测器的液压位置跟踪系统控制研究

The hydraulic control system based on network control technology has the advantages of remote control, modularization and resource sharing. However, the hydraulic control system itself has the characteristics of strong nonlinearity and parameter uncertainty, and the network control system has problems such as limited communication bandwidth, which lead to poor control performance and limit the application. An adaptive robust control strategy with an event-triggered mechanism and an extended state observer(ESO) is proposed to deal with the above problems. By introducing an event-triggered strategy to filter a large amount of redundant data, the utilization of communication bandwidth is improved. An extended state observer is designed based on the model to simultaneously estimate the velocity value and the disturbance outside the mismatch. The uncertain parameters of the hydraulic control system are estimated online through an adaptive algorithm. The global stability of the closed-loop system is analyzed by the Lyapunov stability theory. Experimental results indicate that the designed algorithm has good position tracking control performance while reducing a large amount of data transmission.