Research on Load Simulation and Anti-Disturbance Control of Electro-Hydraulic Servo System

In robotic applications, electro-hydraulic servo systems are widely used due to their excellent force control characteristics and fast response capabilities. However, they must withstand complex dynamic loads, which places high demands on control performance. To address the issues of poor anti-disturbance capability and low tracking accuracy in traditional electro-hydraulic servo control systems, an improved Active Disturbance Rejection Control (ADRC) is proposed. This controller effectively tracks the position, velocity, and acceleration of the input signal, enhancing tracking accuracy, speed, and anti-disturbance performance. Additionally, an adaptive backstepping control algorithm is introduced to simulate the variations in dynamic loads. This algorithm estimates and compensates for unknown and time-varying parameters, offering superior force tracking performance compared to traditional control methods.