Research on the Finite Time Compound Control of Continuous Rotary Motor Electro-Hydraulic Servo System

Abstract

Aiming at the influence of friction, leakage, noise and other nonlinear factors on the performance of the electro-hydraulic servo system of a continuous rotary motor, a finite-time composite controller for the aforementioned servo system is proposed. First, a mathematical model of the electro-hydraulic servo system was analyzed, and the input and output angle data of the motor were collected for system identification. Subsequently, the ARMAX identification model of the continuous rotary motor system was obtained. Then, according to the observed advantages, namely faster capability of the finite-time controller (FTC) to converge the system, and ability of the finite-time observer to reduce the steady-state error of the system, the finite-time controller and finite-time state observer of a continuous rotary electro-hydraulic servo motor were respectively designed. Finally, comparison with PID control simulation shows that the compound controller could effectively improve the control accuracy and performance of the system.