Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

14 Citations (Scopus)

Abstract

This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's). The proposed control concept requires only common data sheet information and no knowledge on load characteristics. Furthermore the proposed scheme only employ pistonand valve spool positions- and pressure feedback, commonly available in industry. 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 designed for the control derivative employing state observation is proposed, based on a generalized reduced order model structure of a VCD with unmatched valve ow- and cylinder asymmetries. It is shown that limited attention can be given to bounds on parameter estimates, that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when subjected to strong perturbations in supply pressure and coulomb friction force, and that tracking accuracy may be reduced to the level of noise. Furthermore, the proposed controller tolerates signicant noise levels, while still remaining stable and accurate.
Original languageEnglish
Title of host publicationProceedings of the 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control
Number of pages10
PublisherElsevier
Publication date2013
Pages99-108
ISBN (Print)978-3-902823-31-1
DOIs
Publication statusPublished - 2013
Event6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control - Hangzhou, China
Duration: 10 Apr 201312 Apr 2013

Conference

Conference6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control
CountryChina
CityHangzhou
Period10/04/201312/04/2013
SeriesIFAC-PapersOnLine
ISSN1474-6670

Fingerprint

Hydraulic drives
Controllers
Reels
Sliding mode control
Model structures
Control theory
Tuning
Hydraulics
Friction
Derivatives
Feedback
Industry

Keywords

  • Electro-Hydraulic Actuator Systems
  • Sliding Mode Control
  • Sliding Mode Observer
  • Chattering Reduction

Cite this

Schmidt, L., Andersen, T. O., & Pedersen, H. C. (2013). Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives. In Proceedings of the 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control (pp. 99-108). Elsevier. IFAC-PapersOnLine https://doi.org/10.3182/20130410-3-CN-2034.00041
Schmidt, Lasse ; Andersen, Torben Ole ; Pedersen, Henrik C. / Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives. Proceedings of the 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control. Elsevier, 2013. pp. 99-108 (IFAC-PapersOnLine).
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abstract = "This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's). The proposed control concept requires only common data sheet information and no knowledge on load characteristics. Furthermore the proposed scheme only employ pistonand valve spool positions- and pressure feedback, commonly available in industry. 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 designed for the control derivative employing state observation is proposed, based on a generalized reduced order model structure of a VCD with unmatched valve ow- and cylinder asymmetries. It is shown that limited attention can be given to bounds on parameter estimates, that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when subjected to strong perturbations in supply pressure and coulomb friction force, and that tracking accuracy may be reduced to the level of noise. Furthermore, the proposed controller tolerates signicant noise levels, while still remaining stable and accurate.",
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Schmidt, L, Andersen, TO & Pedersen, HC 2013, Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives. in Proceedings of the 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control. Elsevier, IFAC-PapersOnLine, pp. 99-108, 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control, Hangzhou, China, 10/04/2013. https://doi.org/10.3182/20130410-3-CN-2034.00041

Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives. / Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

Proceedings of the 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control. Elsevier, 2013. p. 99-108 (IFAC-PapersOnLine).

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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N2 - This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's). The proposed control concept requires only common data sheet information and no knowledge on load characteristics. Furthermore the proposed scheme only employ pistonand valve spool positions- and pressure feedback, commonly available in industry. 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 designed for the control derivative employing state observation is proposed, based on a generalized reduced order model structure of a VCD with unmatched valve ow- and cylinder asymmetries. It is shown that limited attention can be given to bounds on parameter estimates, that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when subjected to strong perturbations in supply pressure and coulomb friction force, and that tracking accuracy may be reduced to the level of noise. Furthermore, the proposed controller tolerates signicant noise levels, while still remaining stable and accurate.

AB - This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's). The proposed control concept requires only common data sheet information and no knowledge on load characteristics. Furthermore the proposed scheme only employ pistonand valve spool positions- and pressure feedback, commonly available in industry. 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 designed for the control derivative employing state observation is proposed, based on a generalized reduced order model structure of a VCD with unmatched valve ow- and cylinder asymmetries. It is shown that limited attention can be given to bounds on parameter estimates, that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when subjected to strong perturbations in supply pressure and coulomb friction force, and that tracking accuracy may be reduced to the level of noise. Furthermore, the proposed controller tolerates signicant noise levels, while still remaining stable and accurate.

KW - Electro-Hydraulic Actuator Systems

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T3 - IFAC-PapersOnLine

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BT - Proceedings of the 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control

PB - Elsevier

T2 - 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control

Y2 - 10 April 2013 through 12 April 2013

ER -

Schmidt L, Andersen TO, Pedersen HC. Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives. In Proceedings of the 6th IFAC Symposium on Mechatronic Systems The International Federation of Automatic Control. Elsevier. 2013. p. 99-108. (IFAC-PapersOnLine). https://doi.org/10.3182/20130410-3-CN-2034.00041