Experimental data of the paper

Hydraulic servomotor is a common energy saving hydraulic power component, capable of switching between pump and motor operating conditions. Precise displacement control of hydraulic servomotors is crucial for minimizing throttling losses and improving overall efficiency. However, the accuracy of hydraulic servomotor displacement control is adversely affected by high-frequency uncertainty disturbances in swashplate moment, traditional adaptive robust control did not account for this factor, leading to suboptimal displacement control effectiveness. A  swashplate disturbance compensation robust control is presented in this article to improve the control accuracy of hydraulic servo motor displacement under high-frequency uncertainty disturbances. A mathematical model for the servomotor displacement adjustment system is formulated, an average disturbance model for the moment of a swashplate is established to incorporate the periodic disturbances and uncertainties. The comparison of experimental results of sine commands at different frequencies shows that the proposed method achieves a maximum improvement of 39.2% and 27.4% in displacement control accuracy compared to PID method and traditional adaptive robust control, respectively.