A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control
Abstract A switching active disturbance rejection control (SADRC) strategy was proposed to solve the composite disturbance challenge arising from gap, LuGre friction, hydraulic spring force, and external load disturbance in the double closed-loop digital hydraulic cylinder position control system. F...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-01-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-025-85640-9 |
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| author | Shouling Jiang Guochao Zhao Fuxian Huang Wenfeng Liu Ying Chen Long Zhang |
| author_facet | Shouling Jiang Guochao Zhao Fuxian Huang Wenfeng Liu Ying Chen Long Zhang |
| author_sort | Shouling Jiang |
| collection | DOAJ |
| description | Abstract A switching active disturbance rejection control (SADRC) strategy was proposed to solve the composite disturbance challenge arising from gap, LuGre friction, hydraulic spring force, and external load disturbance in the double closed-loop digital hydraulic cylinder position control system. Firstly, leveraging the established mathematical model of the double closed-loop digital hydraulic cylinder, the high-order state equation was derived. Subsequently, the high-order double closed-loop digital hydraulic cylinder control system was transformed into a second-order integral series control system using ADRC strategy. Given the pronounced nonlinear characteristics of double closed-loop digital hydraulic cylinders, combined with the characteristics of switching control, a SADRC strategy was proposed, and the stability of the closed-loop system was proved based on Lyapunov theory and switching rules. Finally, the effectiveness of the proposed control method was verified through simulation and experiment. Results indicate that the system's response speed employing the SADRC strategy outperforms the PID control strategy by 32.56%, with a 2.0% reduction in error. The average error in the response speed of the digital hydraulic cylinder and the MATLAB simulation value of the tracking error are 9.0% and 1.50% respectively. Notably, the simulation and experimental results exhibit a consistent overall trend, affirming the feasibility and effectiveness of the control strategy. |
| format | Article |
| id | doaj-art-36449a9f37a6451497a2f48deae21255 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-36449a9f37a6451497a2f48deae212552025-01-12T12:23:15ZengNature PortfolioScientific Reports2045-23222025-01-0115113010.1038/s41598-025-85640-9A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection controlShouling Jiang0Guochao Zhao1Fuxian Huang2Wenfeng Liu3Ying Chen4Long Zhang5School of Computer, Heze UniversitySchool of Mechanical Engineering, Liaoning Technical UniversitySchool of Computer, Heze UniversitySchool of Computer, Heze UniversitySchool of Computer, Heze UniversitySchool of Computer, Heze UniversityAbstract A switching active disturbance rejection control (SADRC) strategy was proposed to solve the composite disturbance challenge arising from gap, LuGre friction, hydraulic spring force, and external load disturbance in the double closed-loop digital hydraulic cylinder position control system. Firstly, leveraging the established mathematical model of the double closed-loop digital hydraulic cylinder, the high-order state equation was derived. Subsequently, the high-order double closed-loop digital hydraulic cylinder control system was transformed into a second-order integral series control system using ADRC strategy. Given the pronounced nonlinear characteristics of double closed-loop digital hydraulic cylinders, combined with the characteristics of switching control, a SADRC strategy was proposed, and the stability of the closed-loop system was proved based on Lyapunov theory and switching rules. Finally, the effectiveness of the proposed control method was verified through simulation and experiment. Results indicate that the system's response speed employing the SADRC strategy outperforms the PID control strategy by 32.56%, with a 2.0% reduction in error. The average error in the response speed of the digital hydraulic cylinder and the MATLAB simulation value of the tracking error are 9.0% and 1.50% respectively. Notably, the simulation and experimental results exhibit a consistent overall trend, affirming the feasibility and effectiveness of the control strategy.https://doi.org/10.1038/s41598-025-85640-9Double closed-loop digital hydraulic cylinderComposite disturbanceADRC strategySwitch control |
| spellingShingle | Shouling Jiang Guochao Zhao Fuxian Huang Wenfeng Liu Ying Chen Long Zhang A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control Scientific Reports Double closed-loop digital hydraulic cylinder Composite disturbance ADRC strategy Switch control |
| title | A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control |
| title_full | A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control |
| title_fullStr | A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control |
| title_full_unstemmed | A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control |
| title_short | A double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control |
| title_sort | double closed loop digital hydraulic cylinder position system based on switching active disturbance rejection control |
| topic | Double closed-loop digital hydraulic cylinder Composite disturbance ADRC strategy Switch control |
| url | https://doi.org/10.1038/s41598-025-85640-9 |
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