Title: Research on steady speed control strategy of direct-drive pump-controlled hydraulic motor based on improved extended state observer

Authors: Guoshuai Li; Yong Sang; Qingli Qi

Addresses: School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China ' School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China ' Liaoning Hongyanhe Nuclear Power Company Limited Dalian 116319, China

Abstract: This paper introduces the direct-drive volumetric control (DDVC), focusing on the direct-drive pump-controlled hydraulic motor electro-hydraulic system as the primary subject of research. Aiming to address the problem of parameter uncertainties and unknown nonlinear disturbances in the system, a robust backstepping controller based on the extended state observer (ESO) is designed to improve the system's dynamic performance and robustness. In the controller, the ESO is used to estimate the total uncertainties in the system. Then, the robust backstepping controller is designed to enhance both the dynamic and robust performance. Moreover, Lyapunov theory is utilised to rigorously demonstrate the stability of both the ESO and the closed-loop control system. Finally, the results indicate the designed controller has excellent robustness and dynamic performance.

Keywords: direct drive; electro-hydraulic system; nonlinear disturbances; robust control; extended state observer.

DOI: 10.1504/IJESMS.2025.149571

International Journal of Engineering Systems Modelling and Simulation, 2025 Vol.16 No.6, pp.369 - 379

Received: 19 Jul 2024
Accepted: 06 Feb 2025
Published online: 07 Nov 2025 *

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