Improved segmented active-disturbance-rejection control method for direct-drive valve-controlled electro-hydraulic system

The invention relates to an improved active-disturbance-rejection control method for a direct-drive valve control electro-hydraulic system, and belongs to the field of electro-hydraulic control. The method comprises the following steps: designing a segmented active-disturbance-rejection control framework for switching between control laws in order to solve the problem of deterioration of control performance caused by internal and external interference existing in an electro-hydraulic system; in order to quickly reduce errors, a self-coupling PID control law based on a self-adaptive speed factor is provided in case of large errors; in order to solve the problem that a non-linear fals function in a control law is non-derivable, a smooth fals-M function is designed to reduce buffeting; according to the principle that an integration link cannot be supersaturated, a self-coupling PID control law is switched into an improved state error feedback control law based on a fal-M function in the case of small errors, so