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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2025, Vol. 59 Issue (10): 2034-2044    DOI: 10.3785/j.issn.1008-973X.2025.10.004
    
Frequency-domain tuning method for linear active disturbance rejection control parameters of electro-hydraulic servo systems
Gang YANG(),Yue PAN,Zhaozhuo WANG,Yue XU,Baoren LI
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
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Abstract  

To resolve the challenges associated with parameter tuning in linear active disturbance rejection control (LADRC) for electro-hydraulic servo systems, the frequency-domain equivalent model of LADRC was derived and analyzed. The system correction mechanism of LADRC was examined from a frequency-domain perspective, and the influences of parameters on the closed-loop performance of electro-hydraulic servo systems were systematically investigated. The system correction capability and order selection of LADRC under varying hydraulic natural frequency conditions were discussed. A parameter matching design method for LADRC was developed based on the Bode stability criterion. Simulation and experimental results demonstrate that the proposed parameter matching design method ensures the stability of closed-loop systems. For systems with lower hydraulic natural frequencies, the third-order LADRC controller is shown to effectively expand the response bandwidth and accelerate the response speed. Conversely, for systems with higher hydraulic natural frequencies, the first-order LADRC achieves superior control performance compared to the third-order LADRC. Under experimental conditions, the first-order LADRC reduces the step response overshoot by 71.25%, shortens the settling time by 61.79%, and decreases the dynamic tracking root-mean-square error by 71.29% relative to the third-order LADRC.

Key words： electro-hydraulic servo system      linear active disturbance rejection control (LADRC)      parameter tuning      frequency domain analysis      stability analysis     
Received: 28 December 2024      Published: 27 October 2025
CLC:  TP 137  
Fund:  基础加强计划重点基础研究项目（2021-173ZD-029）.
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Gang YANG
Yue PAN
Zhaozhuo WANG
Yue XU
Baoren LI
Cite this article:

Gang YANG,Yue PAN,Zhaozhuo WANG,Yue XU,Baoren LI. Frequency-domain tuning method for linear active disturbance rejection control parameters of electro-hydraulic servo systems. Journal of ZheJiang University (Engineering Science), 2025, 59(10): 2034-2044.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2025.10.004     OR     https://www.zjujournals.com/eng/Y2025/V59/I10/2034


电液伺服系统线性自抗扰控制参数频域整定方法

针对电液伺服系统线性自抗扰控制(LADRC)参数难以整定的问题，推导并分析LADRC的频域等效模型；从频域角度分析LADRC的系统矫正机理，研究各参数对电液伺服系统闭环性能的影响；讨论在不同液压固有频率工况下LADRC的系统校正能力和阶数选取，基于伯德稳定判据提出LADRC的参数匹配设计方法. 仿真与实验结果表明，所提参数匹配设计方法能够使闭环系统稳定. 对于液压固有频率较低的系统，三阶LADRC控制器能够有效增大响应带宽，提高响应速度；对于液压固有频率较高的系统，一阶LADRC较三阶LADRC具有更好的控制效果. 在实验条件下，一阶LADRC的阶跃响应超调、调节时间以及动态跟踪均方根误差较三阶LADRC分别减少了71.25%、61.79%和71.29%.


关键词： 电液伺服系统,  线性自抗扰控制(LADRC),  参数整定,  频域分析,  稳定性分析 
Fig.1 Composition of electro-hydraulic servo system
Fig.2 Structure of linear active disturbance rejection controller for electro-hydraulic servo system
Fig.3 Control block diagram of linear active disturbance rejection control
Fig.4 Bode plots of cascade compensator
Fig.5 Effect of observer bandwidth on frequency-domain characteristics of cascade compensator
Fig.6 Effect of bandwidth factor on frequency-domain characteristics of cascade compensator
Fig.7 Effect of nominal control gain on frequency-domain characteristics of cascade compensator
Fig.8 Effect of observer bandwidth on closed-loop performance
Fig.9 Effect of bandwidth factor on closed-loop performance
Fig.10 Effect of nominal control gain on closed-loop performance
Fig.11 Open-loop Bode plot with phase peak frequency much larger than hydraulic natural frequency
Fig.12 Open-loop Bode plot with phase peak frequency silght larger than hydraulic natural frequency
Fig.13 Open-loop Bode plot with phase peak frequency smaller than hydraulic natural frequency
Fig.14 Open-loop Bode plot of first-order linear active disturbance rejection control system
Fig.15 Schematic diagram of Amesim simulation model
工况m/
kg		D1/
mm		D2/
mm		l/
mm		Qch/
（L·min?1）		Δpch/
MPa		ps/
MPa
一80000020012010001000.525
二350100502802000.52.5
Tab.1 Hydraulic system parameters
Fig.16 Simulation of step response for different nominal control gain cases
Fig.17 Simulation of step response error for different nominal control gain cases
Fig.18 Simulation of spool opening for step response in different nominal control gain cases
Fig.19 Simulation of sinusoidal response and spool opening for different command signal period cases
Fig.20 Simulation of step and sinusoidal response for different mass cases
Fig.21 Comparative simulation of step responses for first-order and third-order linear active disturbance rejection control
Fig.22 Comparative simulation of sinusoidal responses for first-order and third-order linear active disturbance rejection control
Fig.23 Experimental platform of electro-hydraulic servo system
Fig.24 Experimental comparison of first-order and third-order linear active disturbance rejection control tracking responses
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