Abstract
In this article, a nonlinear adaptive fuzzy backstepping controller combined with an adaptive backstepping controller and an adaptive fuzzy controller is proposed for real-time tracking control of an electro-hydraulic force loading system. Firstly, a nonlinear dynamic model for the electro-hydraulic force loading system is built with consideration of parameter uncertainties and external disturbances. Then, the adaptive backstepping controller is employed to obtain desired control output for the force loading control system considering parameter uncertainties and external disturbances. Furthermore, an adaptive fuzzy control scheme is designed to adjust uncertain control parameters based on adaptive fuzzy system to cope with the chattering condition that results from the overwhelming external disturbances. The stability of the overall system with the proposed control algorithm can be proved by Lyapunov stability theory. Finally, an electro-hydraulic force loading experimental system with xPC rapid prototyping technology is carried out to verify the effectiveness of the proposed nonlinear adaptive fuzzy backstepping controller. Experimental results verify that the proposed control method exhibit excellent performances on force loading tracking control of the electro-hydraulic force loading experimental system compared with a conventional proportional-integral-derivative (PID) controller with velocity feedforward and adaptive backstepping control schemes.
Highlights
An electro-hydraulic force loading system (EHFLS) is widely utilized to artificially simulate the force loading exerted on a test specimen to evaluate original performances and potential problems of the test specimen owing to its superiorities, including fast response, large force loading, high precision, and high power-to-weight ratio [1,2,3]
To demonstrate effectiveness of the proposed control scheme for the EHFLS, experiments were carried out based on Matlab/Simulink for the electro-hydraulic force loading experimental system using the conventional PID controller with a velocity feedforward (PID + VF), a backstepping controller, an adaptive backstepping controller, and the proposed NAFBC to make a comparison
A nonlinear force loading model is built for an electro-hydraulic force loading system
Summary
An electro-hydraulic force loading system (EHFLS) is widely utilized to artificially simulate the force loading exerted on a test specimen to evaluate original performances and potential problems of the test specimen owing to its superiorities, including fast response, large force loading, high precision, and high power-to-weight ratio [1,2,3]. The. EHFLSisis to to ensure ensure that that the the uniaxial uniaxial force force spherical loading generate generateelectro-hydraulic electro-hydraulicactuator actuatorcan cantrack trackthe thedesired desiredforce forceloading loadinginstruction instructionaccurately. Inherent nonlinearities and parameters uncertainties in the EHFLS make the traditional. Inherent nonlinearities and parameters uncertainties in the EHFLS make the traditional control algorithms simultaneously, suchsuch as servo-valve flow-pressure nonlinearity, actuator control algorithmsinaccessible inaccessible simultaneously, as servo-valve flow-pressure nonlinearity, frictions, and spherical clearances [8].clearances
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