Neural Network Based Active Disturbance Rejection Control of a Novel Electrohydraulic Servo System for Simultaneously Balancing and Positioning by Isoactuation Configuration

Abstract

To satisfy the lightweight requirements of large pipe weapons, a novel electrohydraulic servo (EHS) system where the hydraulic cylinder possesses three cavities is developed and investigated in the present study. In the EHS system, the balancing cavity of the EHS is especially designed for active compensation for the unbalancing force of the system, whereas the two driving cavities are employed for positioning and disturbance rejection of the large pipe. Aiming at simultaneously balancing and positioning of the EHS system, a novel neural network based active disturbance rejection control (NNADRC) strategy is developed. In the NNADRC, the radial basis function (RBF) neural network is employed for online updating of parameters of the extended state observer (ESO). Thereby, the nonlinear behavior and external disturbance of the system can be accurately estimated and compensated in real time. The efficiency and superiority of the system are critically investigated by conducting numerical simulations, showing that much higher steady accuracy as well as system robustness is achieved when comparing with conventional ADRC control system. It indicates that the NNADRC is a very promising technique for achieving fast, stable, smooth, and accurate control of the novel EHS system.