Research n enhanced ADRC algorithm for hydraulic active suspension

The purpose of this paper is to present a double loop auto disturbances rejection control (ADRC) algorithm for hydraulic active suspension system that can help the six-wheel off-road vehicle to improve passing performance. The nonlinear model equations are discussed along with compensation for the parametric uncertainties. The separate principle based control algorithm is developed for tracking control, and applied to an experimental valve-controlled cylinder. The experimental results show that the improved ADRC algorithm gives a good performance for the tracking task of electro-hydraulic servo system in the low frequency stage. With tracking error lower than 5%, the algorithm is greatly superior to PID in those aspects, such as rapidity, robustness, adaptivity, disturbances rejection, tracking accuracy and so on.