Application of adaptive robust control for electro-hydraulic motion loading system

Author:

Chengwen Wang12,Zongxia Jiao3,Long Quan1,Hongjun Meng1

Affiliation:

1. School of Mechanical Engineering/Key Laboratory of Advanced Transducers and intelligent Control System, Ministry of Education, Taiyuan University of Technology, No.79 Yingze Street, Taiyuan 030024, China

2. Post-Doctoral Working Station, Taiyuan Economic Zone, No. 1 Jingyuan Road, Taiyuan 030045, China

3. Science and Technology on Aircraft Control Laboratory, Beihang University, No. 37 Xueyuan Road, Beijing 100191, China

Abstract

This paper investigates the problem of the high-performance motion loading control of an electro-hydraulic load simulator (EHLS). To begin with, the non-linear motion loading model of the EHLS was developed, by which the external disturbances caused by actuator active motion and the uncertainties arising from the EHLS were comprehensively considered. To address these uncertainties and disturbances, the adaptive robust torque control algorithm was developed with the motion loading model. In contrast to the available control methods concerning the EHLS, the developed method has two advantages. First, instead of performing the fixed coefficients-based linear feed-forward compensation using the actuator velocity, adaptive non-linear feed-forward compensation is achieved through the back-stepping design procedure. Second, the uncertainties and disturbances including system parametric uncertainties, un-modelled friction dynamics and unknown external disturbance are addressed comprehensively. Besides illustrating the theoretical proof, the effectiveness of the proposed method is verified through comparative experiments.

Funder

National Key Basic Research Program of China

Natural Science Foundation of Shanxi Providence

China Postdoctoral Science Foundation

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Instrumentation

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