Extended sliding mode observer based robust adaptive backstepping controller for electro-hydraulic servo system: Theory and experiment |
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| Affiliation: | 1. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China;2. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China;3. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology, Xuzhou 221116, China;4. Topology Optimization Group, School of Engineering, Deakin University, Waurn Ponds 3217, Australia;1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, Jiangsu Province, 210094 CN, China;2. Shanghai Aircraft Design and Research Institute, Shanghai, CN, China;1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China;2. Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control (Fuzhou University), China |
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| Abstract: | This paper firstly presents an extended sliding mode observer (ESMO) for the electro-hydraulic servo systems (EHSSs) to deal with nonlinear factors like the external disturbance, parameter uncertainties as well as unmodeled characteristics in the EHSS. The model for the EHSS is established by taking these nonlinear factors into consideration and then the statespace representation is obtained. According to the state space, the ESMO for the EHSS is presented, the equivalence principle is properly utilized to simplify the ESMO and some saturation functions are employed to eliminate high frequency interferences caused by the chattering phenomenon. Based on estimated values from the ESMO, a robust adaptive backstepping controller (RABC) is presented in detail with taking some parameter uncertainties into consideration to further improve the tracking performance. The proposed controller has the following advantages: (1) utilizing the ESMO to cope with these nonlinear factors; (2) parameter online adaptive laws are employed in the RABC design to further improve the tracking performance. In order to verify the performance of the proposed controller, an experiment bench was established. Two sine waves reference signal (one amplitude 0.01 m, 1 Hz; the other 0.015 m, 2 Hz) are employed to verify the performance of the controller. Comparative experimental results show that: (1) the tracking performance of the proposed controller is better than that of a DOs based BC, a BC and a PI controller; (2) estimation values from the ESMO contains fewer noise than two conventional disturbance observers (DOs), which will decrease the control input ripples. |
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