Research on Adaptive Robust Control of Electro-hydraulic Composite Cylinder under Complex Load Conditions

With the rapid development of industrial automation, high-precision modeling and motion control of linear motion actuators have become very important in practical engineering applications. However, the conventional linear motion actuators such as electric cylinders are difficult to achieve good control effects under complex load conditions. In order to solve this control problem, this paper adopts the Electro-hydraulic composite cylinder, a new type of integrated actuator as the controlled object and designs a control scheme for electro-hydraulic hybrid drive loads. The electric part of the composite cylinder is actively controlled, and an adaptive robust controller with continuous friction compensation is designed. At the same time, the robust integral of the sign of the error(RISE) is introduced in the controller to compensate for the approximate error and the bounded disturbance. The hydraulic part assists and produces a load balancing force through the combination of the hydraulic cylinder and the accumulator to attenuate the effects of complex load conditions on the entire controlled system. The Simulation results demonstrate the effectiveness of the proposed control method.