Abstract
A high-gain observer based sliding mode force control system for the single-rod servo actuator is presented in this paper. In order to track the desired force, full states for feedback are needed. Since only the output force is measured, a high-gain observer with easy implementation and calibration is designed for the estimation of the unavailable states. Then the sliding mode controller is proposed and a continuously varying function instead of the traditional sign function is used to constitute the switching term of the control input which takes the distance of the system states from the sliding surface into account. So the chattering phenomena are eliminated. The stability of the closed-loop force control system is analyzed by the singular perturbation method and simulations show the effectiveness of the proposed force control method for the single-rod electrohydraulic servo actuator.
Highlights
For the high stiffness, rapid response, and the perfect capability to provide large driving forces or torques, electrohydraulic systems (EHS) are widely used in industrial equipment
The controlled forces or pressures with fast response and high accuracy are significantly required for the EHS applied in metal forming machines, injection moulding machines, hydraulic punching, riveting, pressing machines, industrial robots interacting with the environment, etc
Experimental results prove the effectiveness of the proposed new control algorithm consisting of the combination of a proportional integral differential (PID) controller and an adaptive feedforward velocity loop in the force control of the hydraulic drives and the steady error remains zero with the overshoot of the control variable less than 5% no matter what large the disturbance velocity is
Summary
Rapid response, and the perfect capability to provide large driving forces or torques, electrohydraulic systems (EHS) are widely used in industrial equipment. G. Xu et al.: High-Gain Observer-Based Sliding Mode Force Control for the Single-Rod Electrohydraulic Servo Actuator. Shi et al [21] provided an extendedstate-observer-based chattering free sliding mode controller for systems with matched and mismatched uncertainties and simulations showed the good performance of extended state observer in estimating the mismatched disturbance. Sun and Chiu [25] used disturbance observer-based sliding mode controller to make the hydraulic actuator system track the desired force with uncertainty compensation. Nakkarat and Kuntanapreeda [26] designed a proportional integral observer-based backstepping controller (PIOBC) and the experimental results demonstrated higher efficiency compared with the industrial P or PI controllers. A high-gain observer-based sliding mode force controller for the single-rod electrohydraulic servo actuator is constructed. Simulation results of the proposed method for the desired force tracking are given in Section 5 and section 6 draws a brief conclusion
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