Abstract
In order to realize precise position tracking of a novel circular hydraulic actuator with parameter uncertainties and bounded disturbances, an adaptive sliding mode controller (ASMC) that incorporates a fuzzy tuning technique is proposed in this paper. The mechanical structure and basic principle of the actuator are first introduced, and the mathematical model of its corresponding valve-controlled hydraulic servo system is constructed. Based on Lyapunov stability theory, online parameter estimation and sliding mode controller design are effectively integrated to approximate the equivalent control of sliding mode. To mitigate the undesired chattering phenomenon and further improve system performance, a fuzzy tuning scheme is employed to regulate the proportional gain of the approaching control term. In addition, a real-time control platform is established, and the controllers parameter identification and position tracking are verified by preliminary experiments. Finally, the traditional PID controller and the exponent approaching sliding controller are also conduced to further evaluate the control performances of the designed controller, and the comparative results demonstrate that the proposed control scheme has better control performance in reducing errors for trajectory tracking.
Highlights
The electro-hydraulic servo system (EHSS) possesses excellent practical features and high reliability in industrial automation fields for its merits of small size-to-power ratio, large force output capability and fast response
A test platform is built for the position tracking experiments of the valve-controlled hydraulic system, which is addressed
EXPERIMENTAL SETUP CONFIGURATION The real-time control platform of the valve-controlled hydraulic servo system is shown in Fig. 6, which is mainly composed of a real-time control system, a circular hydraulic actuator, an angle sensor with high measurement accuracy providing continuous position signal of the joint, a servo valve (FF101-6, AVIC) utilized to drive the hydraulic actuator, a servo amplifier, a hydraulic supply with Ps = 4 Mpa and some terminal boards
Summary
The electro-hydraulic servo system (EHSS) possesses excellent practical features and high reliability in industrial automation fields for its merits of small size-to-power ratio, large force output capability and fast response. It is a nonlinear system with serious uncertainties due to existing friction, leakages and variable oil temperature [1]–[4]. Apart from high nonlinearity and parameter uncertainties, the un-modeled dynamics caused by the high frequency response of servo valve and external load is another problem that can not be ignored in hydraulic system control [5]. The authors in [17] combined sliding mode controller with an adaptive backstepping technique to drive a
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