Adaptive sliding mode position control of electro-hydraulic servo system with single-rod actuators

Xinliang Lu, J. Shan, Zhou Jing, Xingsong Wang
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引用次数: 6

Abstract

An adaptive sliding mode control technique is presented for an electro-hydraulic servo system with single-rod actuators in the presence of uncertain nonlinearities and unknown dynamics in this paper. The influence of different wording area of the single-rod actuator to dynamics of the system is regarded in contrast to double-rod. Some other uncertainties were considered in the technique, and the robust sliding mode controller was designed. The theoretical proof indicates that it can guarantee globally asymptotic stable. The experimental platform was set up, and a pneumatic cylinder was employed to generate variable load. The experimental result shows the control algorithm can not only obtain tracking accuracy of the system and robust to the external disturbances and unknown nonlinearities but also can decrease error in contrast to conventional PID control technique.
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单杆电液伺服系统的自适应滑模位置控制
针对存在不确定非线性和未知动力学的单杆电液伺服系统,提出了一种自适应滑模控制方法。与双杆作动器相比,考虑了单杆作动器不同工作面积对系统动力学特性的影响。该方法考虑了其他不确定因素,设计了鲁棒滑模控制器。理论证明表明它能保证全局渐近稳定。搭建实验平台,利用气缸产生变载荷。实验结果表明,与传统的PID控制技术相比,该控制算法不仅能获得系统的跟踪精度,而且对外界干扰和未知非线性具有鲁棒性,而且能减小误差。
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