液压驱动的重型机械臂被广泛应用于工程机械和矿山机械，对其进行自动控制在行业内具有迫切的需求。然而，液压系统的强参数不确定性和难以建模的动态等因素的影响，给其自动控制带来了一定的挑战。文中以某锚杆钻车为例，研究了一类重型液压机械臂驱动液压缸的位置跟踪控制问题，提出了一种模型前馈补偿自抗扰控制器。为解决重载下变负荷、死区、参数不确定以及摩擦等非线性因素带来的控制难题，采取模型前馈与自抗扰反馈相结合的控制方法，将重型液压机械臂的机构动力学模型和比例阀控液压缸模型相结合，建立了系统的机理模型，然后基于系统的机理模型，构建了控制器的前馈补偿部分；设计了扩张状态观测器对系统的未建模因素进行实时观测，再加上基于状态误差的反馈调整构成了自抗扰控制器。最后在实际的重型液压机械臂上进行了实验研究，结果表明：基于模型前馈补偿的自抗扰控制器相比于PID控制器，具有更小的滞后和跟踪误差，整体跟踪精度比PID控制器提升了63.5%，说明所设计的控制器可以很好地克服液压系统的非线性因素的不利影响，比PID控制器具有更高的鲁棒性，因此所设计的控制方法更适用于此类重型液压机械臂的位置跟踪控制。

Hydraulically-driven heavy-duty manipulator arms are widely used in construction and mining machinery, and there is an urgent need for its automatic control in the industry. However, the strong parametric uncertainties and difficult-to-model dynamics of the hydraulic system and other factors bring certain challenges to its automatic control. This paper studied the position tracking control problem of a class of heavy-duty hydraulic manipulator arm driven hydraulic cylinders by taking an anchor drilling truck as an example, and proposed a model feedforward compensation active disturbance rejection controller. To solve the control problems caused by nonlinear factors such as variable load, dead zone, parametric uncertainties and friction under heavy loads, the study adopted the control method of combining model feedforward and active disturbance rejection feedback, and established the mechanism model of the system by combining the mechanism dynamics model of the heavy-duty hydraulic manipulator arm and the model of proportional valve-controlled hydraulic cylinders. Then based on the mechanism model of the system, it constructed the feedforward compensation part of the controller, and designed an extended state observer to observe the unmodeled factors of the system in real time, and the active disturbance rejection controller was constituted together with the feedback adjustments based on the state error. The experimental studies were carried out on a real heavy-duty hydraulic manipulator arm, and the results show that the model feedforward compensation active disturbance rejection controller has smaller hysteresis and tracking error than PID controller, and the overall tracking accuracy is improved by 63.5% compared with that of PID controller. This indicates that the designed controller can overcome the adverse effects of the nonlinear factors of the hydraulic system very well, and it has a higher robustness than the PID controller. Therefore, the designed control method is more suitable for the position tracking control of this kind of heavy-duty hydraulic manipulator arm.