TY - GEN
T1 - Research on Adaptive Robust Control of Electro-hydraulic Composite Cylinder under Complex Load Conditions
AU - Liu, Haisheng
AU - Shen, Wei
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - With the rapid development of industrial automation, high-precision modeling and motion control of linear motion actuators have become very important in practical engineering applications. However, the conventional linear motion actuators such as electric cylinders are difficult to achieve good control effects under complex load conditions. In order to solve this control problem, this paper adopts the Electro-hydraulic composite cylinder, a new type of integrated actuator as the controlled object and designs a control scheme for electro-hydraulic hybrid drive loads. The electric part of the composite cylinder is actively controlled, and an adaptive robust controller with continuous friction compensation is designed. At the same time, the robust integral of the sign of the error(RISE) is introduced in the controller to compensate for the approximate error and the bounded disturbance. The hydraulic part assists and produces a load balancing force through the combination of the hydraulic cylinder and the accumulator to attenuate the effects of complex load conditions on the entire controlled system. The Simulation results demonstrate the effectiveness of the proposed control method.
AB - With the rapid development of industrial automation, high-precision modeling and motion control of linear motion actuators have become very important in practical engineering applications. However, the conventional linear motion actuators such as electric cylinders are difficult to achieve good control effects under complex load conditions. In order to solve this control problem, this paper adopts the Electro-hydraulic composite cylinder, a new type of integrated actuator as the controlled object and designs a control scheme for electro-hydraulic hybrid drive loads. The electric part of the composite cylinder is actively controlled, and an adaptive robust controller with continuous friction compensation is designed. At the same time, the robust integral of the sign of the error(RISE) is introduced in the controller to compensate for the approximate error and the bounded disturbance. The hydraulic part assists and produces a load balancing force through the combination of the hydraulic cylinder and the accumulator to attenuate the effects of complex load conditions on the entire controlled system. The Simulation results demonstrate the effectiveness of the proposed control method.
KW - Adaptive Robust Control
KW - Complex Load Conditions
KW - Electro-hydraulic Composite Cylinder
KW - Hybrid Drive
UR - https://www.scopus.com/pages/publications/85091556328
U2 - 10.1109/CCDC49329.2020.9164672
DO - 10.1109/CCDC49329.2020.9164672
M3 - Conference contribution
AN - SCOPUS:85091556328
T3 - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
SP - 2453
EP - 2458
BT - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd Chinese Control and Decision Conference, CCDC 2020
Y2 - 22 August 2020 through 24 August 2020
ER -