Abstract
This paper proposes a fault estimation and fault-tolerant control strategy with two observers for a pump-controlled electro-hydraulic system (PCEHS) under the presence of internal leakage faults and an external loading force. The mathematical model of the PCEHS is dedicatedly derived in the state-space form for developing control methodology. Two different observers are developed in which an extended state observer is applied to estimate the internal leakage flow rate, and a disturbance observer is used to deal with the external loading force. Then, the proposed control is designed based on the backstepping sliding mode technique in which estimated information from the observers is taken into consideration to guarantee the working performance of the system. With the proposed methodology, the robustness and stability of the controlled system are theoretically analyzed and proven by the Lyapunov theorem. Comparative simulation results are given to demonstrate the effectiveness of the proposed methodology through different testing conditions.
Highlights
Electrohydraulic systems (EHSs) are popularly employed in numerous industrial applications, such as types of heavy machinery, aircraft actuator, robotics, and so on, due to their advantage of generating large force/torque directly [1,2]
Based on the literature overview, this paper proposes a fault estimation and fault-tolerant control method to maintain the working performance for a pump-controlled electro-hydraulic system (PCEHS) subject to internal leakage fault and external force disturbance
The proposed methodology conducted for the PCEHS is examined in several simulations to evaluate its workability
Summary
Electrohydraulic systems (EHSs) are popularly employed in numerous industrial applications, such as types of heavy machinery, aircraft actuator, robotics, and so on, due to their advantage of generating large force/torque directly [1,2]. In a critical working environment, faults of a hydraulic system such as internal/external leakage in cylinders or valves [15,16], sensor faults (broken, noise, offset) [17,18], vibrations and friction of an actuator [19], and so on, are considered as unknown and uncertain factors that are difficult to measure directly but may suddenly occur These have led to increasing trends towards developing strategies to precisely estimate faults and develop fault-tolerant control (FTC) algorithms that are essential demands as parts of a control system design to maintain control performance [20,21]. Based on the literature overview, this paper proposes a fault estimation and fault-tolerant control method to maintain the working performance for a PCEHS subject to internal leakage fault and external force disturbance.
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