The active disturbance rejection control with feed-forward compensation for hydraulic pump controlled motor speed system

This paper focuses on the constant speed control of a hydraulic pump controlled motor system with abrupt changes of the pump input speed and load torque. An active disturbance rejection controller with feed-forward compensation algorithm is proposed. The feed-forward compensation improves the rapidity and ability of these anti-disturbances. The active disturbance rejection controller can estimate and compensate the uncertain factors of the system, greatly enhancing the system robust. In this paper, a mathematical model of pump controlled motor speed control is built and the influence of input pump speed and load torque feed-forward to the system is studied. The active disturbance rejection controller is designed. The simulation experiments show the system has an excellent static and dynamic performance and the proposed controller can restrict the motor output speed change to a satisfactory range even if in the harsh conditions.