Study on ADRC Controller Design and Simulation of Rock Drill Robot Joint Hydraulic Drive System

摘要

Firstly, mathematic model of rock drill robot joint hydraulic drive system was analyzed, and the reduced-order approximative model was acquired. Then a two-order ADRC (Active Disturbance Rejection Controller) controller of the hydraulic system was designed, and the simulations were down within uncertainty environments. The simulation results show that the ADRC controller has ideal robustness to the system parameters'' disturbances and the large load disturbance, and rapid and smooth control process and high steady precise performances can be implemented.