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복합학
DBpia AI
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AI 아이디어
AI 리더
AI 뷰어
Citeasy
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커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록·키워드
Electro-hydraulic position servo system of valve-controlled symmetrical cylinder (EPSSVCS) is a very important and widely used electro-hydraulic servo system, the performance of which is often affected by friction nonlinearity and external random disturbances together with unmodeled dynamic factors such as parameter uncertainty in practical work. To improve the tracking performance of the system, a backstepping sliding mode control algorithm (BSMC) based on an extended state observer was presented in this paper. Firstly, a nonlinear mathematical model of the EPSSVCS was established which takes into account the composite disturbance induced by the systematic friction nonlinearity, external disturbances and unmodeled dynamic factors. Then, an extended state observer (ESO) was designed which can effectively estimate the velocity, acceleration, and composite disturbance of the valve-controlled cylinder online. Furthermore, a kind of BSMC was presented based on the online ESO estimates and the displacement feedback signals. The control law was given and the system stability was proved. The analysis results showed that the output signal of the system can effectively track the input signal under the influence of typical external disturbances and unmodeled dynamic factors, which illustrated the effectiveness of the established nonlinear mathematical model and the stability of the designed control system. Moreover, by taking the parameters of the electro-hydraulic servo system of a certain type of CNC machine tool as a real example, the proposed algorithm (BSMC) was compared with the conventional PID control algorithm, the backstepping sliding mode control algorithm (BSC), and the adaptive robust control algorithm (ARC), and the results verified the superiority of the BSMC. This work may provide a useful reference for the research in the field of related control systems.
#Control theory (sociology)
#Backstepping
#State observer
#Sliding mode control
#Position (finance)
#Observer (physics)
#Hydraulic cylinder
#Cylinder
#Servomechanism
#Electrohydraulic servo valve
#Computer science
#Mode (computer interface)
#State (computer science)
#Servo
#Control engineering
#Algorithm
#Engineering
#Control (management)
#Physics
#Nonlinear system
#Mechanical engineering
#Adaptive control
#Artificial intelligence
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