부산대학교 도서관

Aiming at the problem of insufficient control accuracy of automatic disturbance rejection controller (ADRC) in valve-controlled hydraulic cylinder system, the ADRC is improved and applied to the electro-hydraulic servo system. To further reduce the influence of external disturbance and improve the anti-interference ability of the system, PD feedforward ADRC and error feedforward ADRC were designed based on the improved ADRC. The simulation and experimental results show that the anti-interference ability of error feedforward ADRC is stronger than PD feedforward ADRC and traditional ADRC, and can effectively improve the performance of the system, improve the response speed of the system, and greatly improve the anti-interference control accuracy of the system.