Model-based trajectory tracking control for an electrohydraulic lifting system with valve compensation strategy.pdfVIP

J．Cent．SouthUniv．(2o12)19：31lO一3117 垒Springer DoI：10．1007／sll771—012．1386—6 Model—basedtrajectorytrackingcontrolfor anelectrohydraulicliftingsystem withvalvecompensationstrategy ZHOUHua(N~)，HOUJiao—yi(侯交义)，ZHAOYong．gang(赵勇刚)，CHENYing—long(陈英龙) 1．StateKeyLaboratoryofFluidPowerTransmissionandControl(ZhejiangUniversity)，Hangzhou310027，China； 2．707InstituteofCSIC，Jiujiang332007，China ◎CenrtalSouthUniversityPressandSpringer-VerlagBerlinHeidelberg2012 Abstract：Thenatura1rfequencyoftheelectrohydraulicsystem inmobilemachineryisalwaysvery1ow,whichbringsdi衔cultiesto thecontrollerdesign．Toimprovethetrackingperformanceofthehydraulicsystem ．mahtematiea1modelingofhteelectrohydraulic liftingsystem andtherubberhosewasaccomplishedaccordingtoanelecrtohydraulic1iftingtestrigbuiltinthelaboratory．Then． valvecompensationsrtategy,includingspoolopeningcompensation(soc)anddeadzonecompensation(DZC)，wasdesignedbased ontheflow—pressurecharacteristicofaclosed—centeredproportionalvalve．Comparativeexperimentsonpoint．to．pointtrajectory tracking between aproportionalcontrollerwith theproposed compensationsand atraditionalPIcontrollerwereconducted． Experimentresultsshow thatthemaximalabsolutevaluesofthetrackingerrorarereducedfrom 0．039m to0．019m fortheslow point—to-pointmotionrtajectory andrfom 0．085m to0．054m ofrthefastpoint—to．pointmotiontrajectorywiththeproposed compensations．Moreover,trackingerroroftheproposedconrtollerwasanalyzed and corresponding suggestionstoreducethe trackingerrorwereputforward． Keywords：electrohydraulicsystem；rtajectorytrackingcontrol；valvecompensation；deadzonecompensation；mobilemachinery usedinhtemobilemachineryraeclosed—centeredones lIntr0ducti0n fo