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Compensation for secondary uncertainty in electro-hydraulic servo system by gain adaptive sliding mode variable structure control

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Journal of Central South University of Technology 2008年第2期15卷 256-263页

作者：张友旺桂卫华 School of Mechanical and Electrical Engineering Central South University School of Information Science and Engineering Central South University

Based on consideration of the differential relations between the immeasurable variables and measurable variables in electro-hydraulic servo system,adaptive dynamic recurrent fuzzy neural networks(ADRFNNs) were employed to identify the primary uncertainty and the mathematic model of the system was turned into an equivalent linear model with terms of secondary *** the same time,gain adaptive sliding mode variable structure control(GASMVSC) was employed to synthesize the control *** results show that the unrealization problem caused by some system's immeasurable state variables in traditional fuzzy neural networks(TFNN) taking all state variables as its inputs is *** the other hand,the identification by the ADRFNNs online with high accuracy and the adaptive function of the correction term's gain in the GASMVSC make the system possess strong robustness and improved steady accuracy,and the chattering phenomenon of the control effort is also suppressed effectively.

关键词： electro-hydraulic servo system adaptive dynamic recurrent fuzzy neural network(ADRFNN) gain adaptive slidingmode variable structure control(GASMVSC) secondary uncertainty

Backstepping Controller Design for electro-hydraulic servo system with Sliding Observer

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Backstepping Controller Design for Electro-hydraulic Servo S...

A Hybrid Adaptive Wavelet Neural Network Control and Sliding Mode Control for electro-hydraulic servo system

第二十九届中国控制会议

作者： CHEN Yan School of Computer and Information Engineering,Beijing Technology and Business University,Beijing,100048,P.R.China

Because an electro-hydraulic servo system is nonlinear,its parameters are difficult to measure and control accuracy is needed highly,a backstepping control method with sliding state observer is *** this strategy,state observer is designed by sliding method,velocity sensor and press sensor aren’t needed,and position sensor is needed *** reducing chattering with sliding method,the saturation function is used to replace signal *** order to deal with system’s uncertainty,controller is designed with backstepping *** uniformly ultimately bounded（UUB）stabilities of all signals are proved by Lyapunov stability *** method can guarantee the stabilization of the closed-loop ***,simulation results are presented to illustrate the effective and the applicability of the suggested method.

关键词： electro-hydraulic servo system Backstepping control sliding observer Lyapunov method

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A Hybrid Adaptive Wavelet Neural Network Control and Sliding...

New Method to Improve Dynamic Stiffness of electro-hydraulic servo systems

第二十九届中国控制会议

作者： WANG Hongyan 1,QIAO Jihong 2,WANG Qinglin 3 1.Department of Information Engineering,Academy of Armored Force Engineering,Beijing 100072,P.R.China2.College of Information Engineering,Beijing Technology and Business University,Beijing 100081,P.R.China3.Department of Automatic Control,School of Information Science and Technology,Beijing Institute of Technology,Beijing 100081,P.R.China

In order to enhance the performance of electro-hydraulic servo system including nonlinearities,parameter uncertainties and load disturbance,a hybrid control scheme,integrating wavelet neural network controller（WNNC）and sliding mode controller is *** is the main controller that is used to mimic the equivalent control,and a sliding mode controller is designed to compensate for the difference between the equivalent control and the *** online adaptive laws are proposed to guarantee the tracking error is asymptotical stability in the Lyapunov stability theorem and Barbalat’s *** addition,in order to relax the requirement of approximation error bound,an estimation law is derived to estimate the error ***,the theoretical results are illustrated in the design of a controller for an electro-hydraulic servo system compared to the sliding mode controller;computer simulations show the superiority of the proposed design method.

关键词： Wavelet Neural Network Sliding Mode Control Adaptive Control electro-hydraulic servo system

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 997-1005页

作者： BAI Yanhong QUAN Long Key Laboratory of Advanced Transducers and Intelligent Control system of Ministry of Education Taiyuan University of Technology School of electronics Information Engineering Taiyuan University of Science and Technology

Most current researches working on improving stiffness focus on the application of control *** controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated,so the control action is *** dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control *** this paper,the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is *** this basis,the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put *** a scheme using double servo valves to realize flow feedforward compensation is presented,in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in *** two valves are arranged in parallel to control the cylinder ***,the model of flow compensation is derived,by which the product of the amplitude and width of the valve’s pulse command signal can be *** determination rules of the amplitude and width of pulse signal are concluded by analysis and *** the proposed scheme,simulations and experiments at different positions with different force changes are *** simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling *** is,system dynamic load stiffness is evidently *** paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

关键词： electro-hydraulic servo system flow feedforward compensation dynamic load stiffness double-valve actuation

Global Dynamic Modeling of electro-hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic system Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

Parameter-dependent vibration-attenuation controller design for electro-hydraulic actuated linear structural systems

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Earthquake Engineering and Engineering Vibration 2012年第1期11卷 73-82页

作者： Weng Falu Mao Weijie State Key Lab of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China School of Mechanical and Electrical Engineering Jiangxi University of Science and Technology Ganzhou 341000 China

The problem of robust active vibration control for a class of electro-hydraulic actuated structural systems with time-delay in the control input channel and parameter uncertainties appearing in all the mass, damping and stiffness matrices is investigated in this paper. First, by introducing a linear varying parameter, the nonlinear system is described as a linear parameter varying （LPV） model. Second, based on this LPV model, an LMI-based condition for the system to be asymptotically stabilized is deduced. By solving these LMIs, a parameter-dependent controller is established for the closed- loop system to be stable with a prescribed level of disturbance attenuation. The condition is also extended to the uncertain case. Finally, some numerical simulations demonstrate the satisfying performance of the proposed controller.

关键词： structural system electro-hydraulic servo system robust stabilization vibration attenuation parameter-dependent controller

Design and experiment of electro hydraulic active suspension for controlling the rolling motion of spray boom

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International Journal of Agricultural and Biological Engineering 2019年第4期12卷 72-81页

作者： Longfei Cui Xinyu Xue Feixiang Le Hanping Mao Suming Ding Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Key Laboratory of Modern Agricultural Equipment and Technology Ministry of EducationJiangsu UniversityZhenjiang 212013China

Boom sprayer is one of the most commonly used plant protection machinery for spraying *** have shown that the efficiency of chemicals is highly correlated with the uniformity of spray distribution *** the boom is a large and flexible structure,boom rolling leads to overlapping and leakage of the *** order to improve spray uniformity,the boom attitude should be kept parallel to the ground slope or to the crop canopy beneath the *** suspension can attenuate frequencies above its resonance frequency,but nothing can be done to align the boom to the sloping ***,an active suspension system is designed,which includes DSP-based controller,a servo valve,a hydraulic cylinder,two ultrasonic sensors,one inertial attitude sensor,and the developed control *** order to prevent the wrong response of the control system caused by the high frequency component due to uneven crop canopy or rough ground.A special signal processing algorithm was proposed,including the limiting filter,smoothing algorithm and data fusion algorithm based on optimal *** transient and steady-state performances of the boom control system using velocity feedforward PID algorithm were tested on a six DOF motion *** can be seen that the low-frequency tracking performance of the boom was greatly improved after the electro-hydraulic active suspension was *** the resonance frequency,the peak angle of active suspension and passive suspensions are 0.72°and 1.29°respectively,and the resonance peak is greatly *** controller was implemented on a self-propelled boom sprayer and validated under field conditions,the standard deviation of the roll angle of the boom with active suspension is 0.40°,compared with 1.04°of the sprayer *** results show that the active suspension control system can effectively reduce the effect of ground excitation disturbance on the application process,and has good tracking performance for

关键词： boom sprayer active suspension electro-hydraulic servo system six DOF motion simulator signal process motion control

Design a New Type of Double-Parallel Platform Road Simulation system

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Design a New Type of Double-Parallel Platform Road Simulatio...