Abstract
This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved position tracking performance and robustness / adaptability compared with a conventional feedforward-PI controller, when subjected to perturbations in supply pressure and coulomb friction.
Original language | English |
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Title of host publication | Proceedings of the 8th International Conference on Fluid Power Transmission and Control, ICFP 2013 |
Number of pages | 4 |
Publisher | World Publishing Cooperation |
Publication date | 2013 |
Pages | 359-362 |
ISBN (Print) | 978-7-89460-153-7 |
Publication status | Published - 2013 |
Event | 8th International Conference on Fluid Power Transmission and Control , ICFP 2013 - Hangzhou, China Duration: 9 Apr 2013 → 11 Apr 2013 |
Conference
Conference | 8th International Conference on Fluid Power Transmission and Control , ICFP 2013 |
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Country/Territory | China |
City | Hangzhou |
Period | 09/04/2013 → 11/04/2013 |
Keywords
- Electro-Hydraulic Drives
- Sliding Mode Control
- Adaptive Parameter Tracking