Sliding Mode Control in Position Control for Asymmetrical Hydraulic Cylinder with Chambers Connected

doi:10.1007/s12204-013-1419-9

上海交通大学学报（英文版） ›› 2013, Vol. 18 ›› Issue (4): 454-459.doi: 10.1007/s12204-013-1419-9

Sliding Mode Control in Position Control for Asymmetrical Hydraulic Cylinder with Chambers Connected

LEI Jun-bo1,2* (雷军波), WANG Xuan-yin1 (王宣银), PI Yang-jun1 (皮阳军)

(1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; 2. College of Engineering, Jiangxi Agricultural University, Nanchang 330045, China)

出版日期:2013-08-28 发布日期:2013-08-12
通讯作者: LEI Jun-bo(雷军波) E-mail:junbolei@163.com

Sliding Mode Control in Position Control for Asymmetrical Hydraulic Cylinder with Chambers Connected

LEI Jun-bo1,2* (雷军波), WANG Xuan-yin1 (王宣银), PI Yang-jun1 (皮阳军)

(1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; 2. College of Engineering, Jiangxi Agricultural University, Nanchang 330045, China)

Online:2013-08-28 Published:2013-08-12
Contact: LEI Jun-bo(雷军波) E-mail:junbolei@163.com

摘要/Abstract

摘要： In this paper, single, two-position, two-way proportional valve is used to carry out the positon control of asymmetrical hydraulic cylinder with two chambers connected. The system structure and the working princle are introduced. The dynamic model of the asymmetrical hydraulic cylinder system is established with power bond graphs method, and becomes a fundament for analyzing the system. Sliding mode controller is designed, and the stability of the control system is analyzed. The simulation results indicate that the sliding mode controller designed can actualize the position control of asymmetrical hydraulic cylinder system, and controller is superior to traditional PID controller when the load changes in some range.

关键词: sliding mode control, asymmetrical hydraulic cylinder, position control, bond graph

Abstract: In this paper, single, two-position, two-way proportional valve is used to carry out the positon control of asymmetrical hydraulic cylinder with two chambers connected. The system structure and the working princle are introduced. The dynamic model of the asymmetrical hydraulic cylinder system is established with power bond graphs method, and becomes a fundament for analyzing the system. Sliding mode controller is designed, and the stability of the control system is analyzed. The simulation results indicate that the sliding mode controller designed can actualize the position control of asymmetrical hydraulic cylinder system, and controller is superior to traditional PID controller when the load changes in some range.

Key words: sliding mode control, asymmetrical hydraulic cylinder, position control, bond graph

中图分类号:

TP 273

LEI Jun-bo1,2* (雷军波), WANG Xuan-yin1 (王宣银), PI Yang-jun1 (皮阳军). Sliding Mode Control in Position Control for Asymmetrical Hydraulic Cylinder with Chambers Connected[J]. 上海交通大学学报（英文版）, 2013, 18(4): 454-459.

LEI Jun-bo1,2* (雷军波), WANG Xuan-yin1 (王宣银), PI Yang-jun1 (皮阳军). Sliding Mode Control in Position Control for Asymmetrical Hydraulic Cylinder with Chambers Connected[J]. Journal of shanghai Jiaotong University (Science), 2013, 18(4): 454-459.

参考文献

[1] Liu Chang-nian. Optimized design theory of hydraulic servo system [M]. Beijing: Metallurgical Industry Press, 1989: 155 (in Chinese).
[2] Wu Zhen-shun, Zhang Li-chun, Zhao Chun-lei. Adaptive controller and its application in force system of asymmetric cylinder controlled by symmetric valve [J]. Chinese Journal of Mechanical Engineering, 2007, 20(6): 50-53.
[3] Pi Yang-jun,Wang Xuan-yin. Observer-based cascade control of a 6-DOF parallel hydraulic manipulator in joint space coordinate [J]. Mechatronics, 2010, 20(6): 648-655.
[4] Zhao Ji-yun, Chai Guang-yuan, Li Chang-xi. Theoretical study of the characteristic of an asymmetric hydraulic cylinder controlled by an asymmetric valve [J]. Journal of China University of Mining & Technology, 1996, 25(4): 22-27 (in Chinese).
[5] Liu Rong, Wang Xuan-yin, Wu Gen-mao. Dynamic characteristics study on asymmetric hydraulic cylinder controlled by GPCM valve [J]. China Mechanical Engineering, 2004, 15(2): 154-154 (in Chinese).
[6] Khajepour A. Nonlinear control strategy development for asymmetric actuators [J]. IEEE Transactions on Automatic Control, 2000, 45(3): 556-560.
[7] Peraza C, Diaz J G, Arteaga-Bravo F J, et al. Modeling and simulation of PEM fuel cell with bond graph and 20sim [C]//2008 American Control Conference. Seattle, WA, USA: ACC, 2008: 5014-5018.
[8] Borutzky W. Bond graph methodology: Development and analysis of multidisciplinary dynamic system models [M]. London: Springer, 2009: 17-20.
[9] Favre W, Scavarda S. Bond graph representation of multibody systems with kinematic loops [J]. Journal of the Franklin Institute, 1998, 335B(4): 643-660.
[10] Dransfield P. Hydraulic control systems—Design and analysis of their dynamics/peter dransfield [M]. Berlin: Springer, 1981: 34-47.
[11] Liu G P, Daley S. Optimal-tuning nonlinear PID control of hydraulic systems [J]. Control Engineering Practice, 2000, 8(9): 1045-1053.
[12] Truong D Q, Ahn K K. Force control for hydraulic load simulator using self-tuning grey predictor — Fuzzy PID [J]. Mechatronics, 2009, 19(2): 233-246.
[13] Knohl T, Unbehauen H. Adaptive position control of electrohydraulic servo systems using ANN [J]. Mechatronics, 2000, 10(1-2): 127-143.
[14] Lee S Y, Cho H S. A fuzzy controller for an electrohydraulic fin actuator using phase plane method [J]. Control Engineering Practice, 2003, 11(6): 697-708.
[15] Gao Wei-bing. Theory and design approach for variable structure control [M]. Beijing: Science and Technology of China Press, 1990: 30-43 (in Chinese).
[16] Young K D, Ozguner U. Sliding mode: Control engineering in practice [C]//Proceedings of the American Control Conference. San Diego, USA: ACC, 1999: 150-162.
[17] Bonchis A, Corke P I, Rye D C, et al. Variable structure methods in hydraulic servo systems control [J]. Automatica, 2001, 37(4): 589-595.
[18] Slotine J J, Li W. Applied nonlinear control [M]. New Jersey, USA: Prentice-Hall International, 1991: 276-285.
[19] Merritt H E. Hydraulic control systems [M]. New York: John Wiley & Sons, 1967: 118-122.
[20] Liu Chang-nian, Yuan Zi-rong. Introduction to hydraulic control system [M]. Beijing: Beijing Science and Technology Press, 1987: 91-95 (in Chinese).

编辑推荐 0

Metrics

阅读次数

全文

280

HTML			PDF

最新录用	在线预览	正式出版	最新录用	在线预览	正式出版
0	0	0	0	0	280

来源	本网站	其他网站

次数	4	276
比例	1%	99%

摘要

816

最新录用	在线预览	正式出版

0	0	816

来源	本网站	其他网站

次数	270	546
比例	33%	67%

Sliding Mode Control in Position Control for Asymmetrical Hydraulic Cylinder with Chambers Connected

Sliding Mode Control in Position Control for Asymmetrical Hydraulic Cylinder with Chambers Connected

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 3

编辑推荐 0

Metrics

本文评价

[1]	CHANG Lu, SHAN Liang, LI Jun, DAI Yuewei . Sliding Mode Control of T-Shaped Pedestrian Channel[J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(4): 478-485.
[2]	YUE Caichenga (岳才成), CHEN Hongbina (陈红彬), QIAN Linfanga (钱林方), KONG Jianshoub (孔. Adaptive Sliding-Mode Tracking Control for an Uncertain Nonlinear SISO Servo System with a Disturbance Observer[J]. sa, 2018, 23(3): 376-.
[3]	YANG Pu* (杨蒲), NI Jiangfan (倪江帆), PAN Xu (潘旭), GUO Ruicheng (郭瑞诚). Sliding Mode Robust Fault-Tolerant Control for Uncertain Systems with Time Delay[J]. 上海交通大学学报（英文版）, 2017, 22(2): 240-246.