Predictive control of linear time-varying model for hydraulic erecting systems based on linear expanded state observer

Abstract

By analyzing the deficiencies of existing hydraulic erecting systems (HESs) control methods, this study proposes a linear time-varying model predictive control (LTV-MPC) method based on the linear extended state observer (LESO) for HESs. First, the working mechanism of HESs is methodically analyzed and the corresponding state space equations are established. Second, the LESO system is designed to estimate the current unknown real-time states. Then, the LTV-MPC is employed to evaluate and output the optimal solution of the servo voltage signal. Finally, through simulation and experiment, the effectiveness of the proposed method is confirmed and discussed. The results show that the displacement error rate of the proposed method is still lower than 0.223% under larger external disturbances, which can effectively improve the control accuracy and stability of the system compared with other methods.