Active Disturbance Rejection Control for the Pump-Controlled Reach Stacker of a New Energy Rubber-Tired Gantry Crane

This paper addresses the position control requirements of the lifting cylinder of a new energy straddle carrier and proposes a pump control system design scheme based on Active Disturbance Rejection Control (ADRC). The new energy straddle carrier uses a servo motor as the power source and achieves efficient cargo handling operations through precisely controlled pump-controlled hydraulic cylinders. The mathematical modeling of the lifting cylinder pump control system, including the modeling of the servo motor, fixed displacement pump, and hydraulic cylinder, is elaborated in this paper. Additionally, an ADRC controller designed using an RBF neural network for parameter optimization is introduced. Simulation results show that the proposed ADRC controller outperforms traditional PID controllers in terms of control accuracy and dynamic response performance across different target positions and loads. Specifically, it resolves issues related to increasing response speed with stroke length, enhancing system robustness and stability. Particularly, it resolves the issue of the response speed increasing with the stroke length, enhancing the robustness and stability of the system.