Output feedback nonlinear energy-saving position control of electro-hydraulic asymmetric actuator
Output feedback nonlinear energy-saving position control of electro-hydraulic asymmetric actuator
复制标题
电液非对称执行机构输出反馈非线性节能位置控制
DOI：
10.1177/0959651817746895
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Haigang Ding
中科院分区：
文献类型：
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作者：
Weiping Wang;Jiyun Zhao;Haigang Ding
精确的跟踪性能和显著的节能效果是电液系统的重要问题。与其他驱动方式不同，电液驱动系统通常存在严重的能耗问题。针对电液非对称作动器的节能和位置跟踪问题，提出了一种输出反馈非线性节能控制器。具体地，基于期望轨迹和系统参数以开环方式可变地控制泵压力，以根据负载感测控制的概念提高系统效率。此外，系统的状态和集中不确定性，包括参数不确定性和不确定的非线性估计的扩展滑模观测器。此外，鲁棒跟踪控制器的构造，以确保指定的跟踪性能。因此，仅使用位置测量来解决多问题。利用李亚普诺夫方法验证了控制器的稳定性，并证明了控制器的内部动态特性。对比实验结果证明了该控制器的有效性。
Both precise tracking performance and significant energy-saving effect are important issues for electro-hydraulic systems. Different from other available actuation methods, the electro-hydraulic systems generally suffer from severe energy consumption. To deal with the problem of energy saving and position tracking simultaneously, an output feedback nonlinear energy-saving controller is presented for electro-hydraulic asymmetric actuator. Specifically, the pump pressure is variable controlled in an open-loop manner based on the desired trajectory and system parameters to improve the system efficiency according to the concept of load-sensing control. Additionally, both the system states and the lumped uncertainties including parametric uncertainties and uncertain nonlinearities are estimated by an extended sliding mode observer. Moreover, a robust tracking controller is constructed to ensure a prescribed tracking performance. Thus, the multi-problem is resolved using only position measurement. The stability of the controller is verified by Lyapunov method, and the internal dynamics are demonstrated. The effectiveness of the controller is demonstrated by comparative experimental results.