Abstract
A nonlinear adaptive backstepping control method was proposed to address the system parameter uncertainty problem in the position control process of an electro-hydraulic servo closed-pump control system. This control strategy fully considers the parameter uncertainty of the nonlinear system and establishes the adaptive rate of the uncertain parameter to adjust the parameter disturbance online in real time, thereby improving the accuracy and robustness of the control system. A pump control system experiment platform was used to verify the feasibility of the controller. The experimental results showed that the proposed control strategy provided a good control effect. The pump control system can be controlled with high precision, with a steady-state control accuracy of ±0.02 mm, which serves as a good foundation for the engineering application and promotion of the pump control system.
Highlights
The electro-hydraulic servo control system is vital to hydraulic technology and is one of the basic technical components of modern control engineering [1]
Because of its high load-bearing capacity, dynamics, and precision, it is widely used in manufacturing, national defense, military industry, airspace, and other fields [2,3,4]
Traditional electro-hydraulic servo technology is primarily based on valve control systems
Summary
The electro-hydraulic servo control system is vital to hydraulic technology and is one of the basic technical components of modern control engineering [1]. Compared with the traditional electro-hydraulic servo valve control technology, pump control technology can effectively solve the inherent defects of the former, and offers the advantages of energy efficiency, high power–weight ratio, and environmental friendliness [6] It is preferred by engineers and has become a topic of focus in the field of electro-hydraulic servo research and development. By considering the uncertainty of the modeling of a mismatched system and the nonlinear load pressure state, they adopted a continuous function to approximate the discontinuous symbolic function and designed a strategy on the basis of the backstepping method to construct the expected value of the intermediate state variable Their comparative experimental results validated the effectiveness of the proposed control strategy.
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