Sliding Mode Control of Force Tracking for Electrohydraulic Servo Systems with Friction Estimation

被引：0
|
作者：
Yu, Lie [1 ]
机构：
[1] Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Peoples R China
来源：
2015 3RD ASIAN PACIFIC CONFERENCE ON MECHATRONICS AND CONTROL EINGINEERING (APCMCE 2015) | 2015年
关键词：
Sliding model control; Force tracking; Electrohydraulic servo systems; Nonlinear and reduced-order observer; PID controller;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A sliding model control of force tracking is presented for the electrohydraulic servo systems (EHSS) with its friction estimated. The model of the system has been built to calculate the force imposed by the EHSS on the hydraulic rod. The sliding mode controller is used to track the force generated by the EHSS. The frictional force existing in the hydraulic rod is estimated using a nonlinear and reduced-order observer. The traditional PID controller is employed to be compared with the sliding mode controller to test the system performance. The simulation results show that sliding mode controller obtains less mean average error than the traditional PID controller. In addition, the system gives a better performance in force tracking control when the friction is compensated.
引用
收藏
页码：233 / 237
页数：5
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