Research on improved active disturbance rejection control of continuous rotary motor electro-hydraulic servo system



In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors, such as dynamic uncertainty and parameter perturbation, an improved active disturbance rejection control (ADRC) strategy was proposed. The state space model of the fifth order closed-loop system was established based on the principle of valve-controlled hydraulic motor. Then the three parts of ADRC were improved by parameter perturbation and external disturbance; the fast tracking differentiator was introduced into linear and non-linear combinations; the nonlinear state error feedback was proposed using synovial control; the extended state observer was determined by nonlinear compensation. In addition, the grey wolf algorithm was used to set the parameters of the three parts. The simulation and experimental results show that the improved ADRC can realize the system frequency 12 Hz when the tracking accuracy and response speed meet the requirements of double ten indexes, which lay foundation for the motor application.


为满足连续回转电液伺服马达系统在动态不确定性、 参数摄动等未知强非线性和不确定强扰动因素下的精度需求和跟踪性能, 提出了一种改进自抗扰控制(ADRC)策略. 在阀控液压马达原理的基础上, 建立马达五阶闭环系统状态空间模型. 利用参数摄动和外部扰动对自抗扰控制器三部分进行改进, 引入线性与非线性组合的快速跟踪微分器, 提出用滑膜控制改进非线性状态误差反馈控制律, 确定非线性补偿的扩张状态观测器. 利用灰狼算法分别对三个部分进行参数整定. 结果表明, 在跟踪精度和响应速度均满足双十指标要求下, 改进自抗扰控制器能够使系统频率达到 12 Hz, 为马达的实际应用奠定了基础.

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Author information




The overarching research goals were developed by WANG Xiao-jing, FENG Ya-ming, and SUN Yu-wei. WANG Xiao-jing established the mathematical model of the valve controlled motor, compiled the experimental program, calculated and analyzed the measured data. FENG Ya-ming and SUN Yu-wei designed the improved ADRC and adjusted the parameters to get the simulation curve. The initial draft of the manuscript was written by WANG Xiao-jing, FENG Ya-ming and SUN Yu-wei. All authors replied to reviewers’ comments and revised the final version.

Corresponding author

Correspondence to Xiao-jing Wang 王晓晶.

Ethics declarations

WANG Xiao-jing, FENG Ya-ming and SUN Yu-wei declare that they have no conflict of interest.

Additional information

Foundation item: Project(51975164) supported by the National Natural Science Foundation of China; Project(2019-KYYWF-0205) supported by the Fundamental Research Foundation for Universities of Heilongjiang Province, China

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Wang, Xj., Feng, Ym. & Sun, Yw. Research on improved active disturbance rejection control of continuous rotary motor electro-hydraulic servo system. J. Cent. South Univ. 27, 3733–3743 (2020).

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Key words

  • continuous rotary electro-hydraulic servo motor
  • active disturbance rejection control (ADRC)
  • fast tracking differentiator (TD)
  • non-linear state error feedback (NLSEF)
  • extended state observer (ESO)
  • grey wolf algorithm


  • 连续回转电液伺服马达
  • 自抗扰控制
  • 快速跟踪微分器
  • 非线性状态误差反馈控制律
  • 扩张状态观测器
  • 灰狼算法