Investigation of the Hydraulic Servo System of the Rolling Mill Using Nonsingular Terminal Sliding Mode-Active Disturbance Rejection Control

Table 1

Simulation model of the control system.

Parameter	Numerical value
Viscous damping coefficient of piston Bp (N·s/m)	2.25 × 10^6
Servo gain coefficient ksv (m^3/(V·s))	0.01
Bulk modulus of elasticity βe (Pa)	7 × 10^8
Return pressure pr (Pa)	0
Hydraulic pump outlet pressure Ps (Pa)	3.8 × 10^7
Hydraulic oil density ρ (kg/m^3)	850
Effective area of the cylinder Ap (m^2)	0.1256
Hydraulic cylinder leakage coefficient Ct (m^5/(N·s))	5 × 10^–16
Total mass of the piston and load m (kg)	1500
Elastic stiffness coefficient k (N/m)	2.5 × 10^9
Valve flow coefficient Cd	0.61
Servo valve area gradient (m)	0.025
Initial volume of the hydraulic cylinder V (m^3)	3.768 × 10^−3