Research on Repetitive Control Technology of Liquid Hydrostatic Bearing Based on Extended State Observer

doi:10.3901/JME.2025.05.126

Abstract

Abstract: Repetitive control (RC) is a control strategy that calculates a new input based on the error signal of the previous cycle, and is widely used in repeatable operations. The displacement of the spindle of a hydrostatic bearing rotor system can be decomposed into periodic motions in the horizontal and vertical directions, so that vibration suppression, axis trajectory tracking, etc. can be achieved by applying repetitive control methods. However, the hydrostatic bearing rotor system is non-linear and there are coupling factors as well as non-periodic disturbances such as machining errors and environmental noise, so a repetitive control (RC) strategy based on extended state observer (ESO) is proposed, where the former can observe the non-periodic disturbances as well as non-linear factors and add them to the linear state feedback controller for compensation, while the latter ensures good accuracy of periodic trajectory tracking and periodic disturbance suppression. The convergence conditions of the ESO and the stability conditions of the improved control system are derived for the controlled hydrostatic bearing rotor system. Finally, the proposed strategy is validated by simulation and experiment, and compared with classical PID control and conventional RC. The results show that the ESO-based RC has better signal tracking capability and disturbance rejection than the conventional RC and PID.

Key words: liquid hydrostatic bearing, controllable bearing, extended state observer, repetitive control, axis trajectory tracking

CLC Number:

TH137

SUN Wenlong, PAN Wei, XIANG Shaotong, ZHANG Yixin, ZHANG Cong, LU Changhou. Research on Repetitive Control Technology of Liquid Hydrostatic Bearing Based on Extended State Observer[J]. Journal of Mechanical Engineering, 2025, 61(5): 126-137.

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