On the design of an observer for the detection of null-current shifts in an electro-hydraulic actuation system
On the design of an observer for the detection of null-current shifts in an electro-hydraulic actuation system
复制标题
电液驱动系统中零电流位移检测观测器的设计
DOI：
10.23919/ecc.2018.8550566
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Matthew C. Tumer
中科院分区：
文献类型：
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作者：
Tomas Puller;Andrea Lecchini;Matthew C. Tumer
本文提出了一种用于估计电液驱动系统中零电流的非线性观测器。驱动系统的模型由虚轴上有两个极点的线性系统和静态非线性系统的互连组成，其特性类似于时变死区。这种特征组合意味着许多标准观测器技术无法被证明能够提供零电流的良好估计。然而，研究表明，非线性的划分以及利用文献中的启发构建的非线性观测器使得人们能够得出观测误差的全局一致最终有界性。此外，最终有界区域的大小自然取决于类死区非线性的参数。对涉及液压执行器的高保真度仿真的仿真显示了所提出的观测器的有效性。
This paper presents a nonlinear observer for estimating the null current in an electro-hydraulic actuation system. The actuation system’s model consists of the interconnection of a linear system, with two poles on the imaginary axis, and a static nonlinearity, with characteristics similar to a time-varying deadzone. This combination of features means that many standard observer techniques cannot be proven to provide a good estimate of the null current. It is, however, shown that a partitioning of the nonlinearity, together with a nonlinear observer constructed using inspiration from the literature, enables one to conclude global uniform ultimate boundedness of the observation error. Moreover, the size of the region of ultimate boundedness depends, naturally, on the parameters of the deadzone-like nonlinearity. Simulations on a high-fidelity simulation involving the hydraulic actuator show the effectiveness of the proposed observer.