A modified sliding mode control for accurate position control of a hydraulic cylinder (original) (raw)
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Comparison of Sliding Mode Controller for Classical and Direct Driven Electrohydraulic System
Linköping Electronic Conference Proceedings, 2021
In this paper, a novel energy-efficient Direct Driven Hydraulic (DDH) drive is made in parallel with a classical valve-controlled proportional electrohydraulic system. In the proposed concept asymmetrical hydraulic cylinder is controlled with two reversible pumps directly connected to a servo motor. Due to direct control of the oil flow, such system provides higher energy efficiency in comparison to a valve-controlled hydraulic system. The experimental setup is designed with the possibility of easy switching between both systems, which enables an exact comparison of the experimental results. Sliding Mode Controller (SMC) is designed for the DDH system and also for the classical proportional electro-hydraulic system. A comparison study of two systems is done based on the experimental results obtained with the SMC while reference results are obtained with a widely used PID controller. Parameters for the PID controller are obtained with the Ziegler-Nichols method. The same parameters a...
2010
This paper presents the position tracking performance of an electro-hydraulic hydraulic servo (EHS) system using sliding mode control (SMC) with proportional-integral-derivative (PID) sliding surface. In modelling process, a mathematical model of the EHS system is developed by considering its nonlinearities as represented by a Lu-Gre friction model. The control strategy is derived from the developed dynamics equation and stability of the control system is theoretically proven by Lyapunov theorem. Simulation results show that the proposed controller has a better tracking performance compared to conventional PID controller.
2011
In this paper, the position tracking performance of an electro-hydraulic hydraulic servo (EHS) system using sliding mode control (SMC) with proportional-integral-derivative (PID) sliding surface is presented. The dynamics of the EHS system in modelling process are developed by consider its nonlinearities incorporating a friction model. Then, SMC with PID scheme is derived from the developed dynamics equation and stability of the control system is theoretically proven by Lyapunov theorem. Finally, simulation work is demonstrated and the result shows the proposed controller can achieve better tracking performance compared with conventional PID controller with good accuracy for any desired trajectory.
Review on sliding mode control and its application in electrohydraulic actuator system
Journal of theoretical and applied information technology, 2015
The purpose of this paper is to review the literatures related to the modeling of sliding mode control strategies of hydraulic actuator systems proposed by various researchers in order to design a high performance nonlinear controller in the presence of uncertainties. Sliding mode controller (SMC) is one of the nonlinear robust controllers which can be used in nonlinear dynamic systems with uncertainty. Before the main discussion, background information related to the hydraulic actuators will be presented. This review is concluded with a short summary and conclusion of hydraulic actuators.
International Journal of Electrical and Computer Engineering (IJECE), 2018
This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system's performance. In respect of system's performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error. Keyword: Electro-hydraulic actuator Gravitational particle swarm Gravitational search algorithm Modified sliding mode control Particle swarm optimization Sum square error 1. INTRODUCTION Electro-Hydraulic Actuator (EHA) system is one of the important drive systems in industrial sectors and most engineering practices. However, the system is highly nonlinear due to many factors, such as leakage, friction, and especially the expression of fluid flow through the servo valve [12]. With these attributes being present, the system's performance will be reduced significantly. In order to overcome the issue previously highlighted, the controller utilized for the system should be robust enough to overcome the entire operating range. Therefore, a suitable controller needs to be designed for a positive performance to be shown by the electro-hydraulic actuator. The raised numbers of works conducted with electro-hydraulic actuator system have been proposed over the past decades ranged from linear control, nonlinear control to intelligent control strategies such as [3]-[6] have been proposed over the past decades. Based on the literature study in [7]-[10], sliding mode control (SMC) is found to be efficient and widely applied in nonlinear systems [11]. However, it has been noticed that most of the existing results regarding the sliding surface design are more emphasized on the matched uncertainties and disturbances attenuation, provided the insensitivity of the sliding motion of
Rugged electrohydraulic actuation systems have wide range of heavy-duty applications. But, the challenges in the controller development for such systems are nonlinearities, inexact mathematical models, unmodeled dynamics, parameter variations and uncertainties. Nonlinearities of high static friction in industrial cylinders and large deadband of proportional valves in rugged systems are more severe than in precision systems with servovalves and servocylinders. A model-free fuzzy controller and a model-based sliding mode controller (SMC) with biasing for the deadband have been developed and compared here against tracking of piston displacement in the cylinder with sinusoidal demands of different frequencies. Errors in piston displacement and velocity have been used in both the control techniques as input parameters to the controllers. Satisfactory realtime performances have been achieved in both the cases for sinusoidal frequency as high as 1 Hz that is quite commendable in view of attaining it without using components that are not of servoclass. The model-free controller has been showing better response except in some few cases.
Port-Said Engineering Research Journal, 2020
Simulation and experimental studies of pneumatic cylinder position control are introduced. High speed on-off solenoid air valve is used instead of the proportional control valve. Sliding mode control with error modification (SMCE) is proposed to drive the air valves with pulse width modulation (PWM) technique. Comparison of the performance of the closed loop position control using SMCE with the traditional PID is held. The simulation model is used to optimize the SMC and PID controller parameters to start the experimental test as a first trial. The experimental results for square and sinusoidal position reference show superiority of the SMCE over the PID in terms of lower steady state errors, faster settling time, and less overshoot. The root mean square error for a sinusoidal input of 0.1 Hz is 0.22 mm for SMCE and 0.69 mm for PID controller. The maximum absolute errors are 0.66 mm and 1.46 mm for SMCE and PID, respectively.
Bulletin of Electrical Engineering and Informatics, 2023
In this paper, presents the construction of an automatic control system for mobile lifting machines applied in industry and traffic. The control algorithm is built on the basis of calculations from the actual system taking into account the estimation of the nonlinear factors of frictional moment uncertainty, on the basis of the adaptive sliding mode control method. Using programming and simulation tools on the basis of MATLAB/Simulink to demonstrate the research results. The results of the simulation study are the basis for the design and calculation of the hydraulic electro drive system, which shows the practical effectiveness of the study of electromechanical traction electric transmission systems such as mobile lifting machines. The motion uses hydraulic valve systems to transmit power control (lifting and lowering as required).
Journal of Control Engineering and Applied Informatics, 2015
In this paper a control law was designed to accurately control the rod position of hydraulic servo system. Infact, due to its having a nonlinear model, the hydraulic servo system is not accurately stabilizedby a proportional controller and suffers from wind up phenomenon when applying the PI controller.To overcome the problems encountered by the action of these linear controllers, a sliding modecontroller with an integral and realizable reference compensation is used to obtain an accurateposition in addition to having a short settling time. The efficiency of the proposed scheme isillustrated using numerical simulations.
Sliding Mode Control with Adaptive Fuzzy Dead-Zone Compensation of an Electro-hydraulic Servo-System
Journal of Intelligent and Robotic Systems, 2010
Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high force to weight ratio, fast response time and compact size. However, precise control of electro-hydraulic systems, due to their inherent nonlinear characteristics, cannot be easily obtained with conventional linear controllers. Most flow control valves can also exhibit some hard nonlinearities such as dead-zone due to valve spool overlap. This work describes the development of an adaptive fuzzy sliding mode controller for an electro-hydraulic system with unknown dead-zone. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov stability theory and Barbalat's lemma. Numerical results are presented in order to demonstrate the control system performance.