Disturbance observer based position tracking of electro-hydraulic actuator.pdfVIP

J．Cent．SouthUniv．(2015)22：2158—2165 垒Springer DoI：10．1007／sl1771-015-2740—2 Disturbanceobserverbasedpositiontrackingofelectro—hydraulicacutator GUOKai(国凯)，WEIJian-hua(魏建华)，TIANQi．yan(~启岩) StateKeyLaboratoryofFluidPowerTransmissionandControl(ZhejiangUniversity)，Hangzhou310027，China ◎ CentralSouthUniversityPressandSpringer·VerlagBerlinHeidelberg2015 Abstraet：Anonlinearcontrollerbasedonanextendedsecond．orderdisturbanceobserverispresentedtotrackdesiredpositionforan electro．hydraulicsingle—rodactuatorin thepresenceofboth extemaldisturbancesandparameteruncertainties．Theproposed extendedsecond-orderdisutrbanceobserverdealswithnotonlytheextemalperturbations．butalsoparameteruncertaintieswhichare commonlyregarded aslumped disturbancesinpreviousresearches．Besides，theouterposition trackingloop isdesigned with cylinderlpadpressureasoutput；andtheinnerpressurecontrolloopprovidesthehvdraulicactuatorthecharacteristicofaforce generator．Thestabilityoftheclosed．1oopsystem isprovidedbasedonLyapunovtheory．Theperformanceofthecontrollerisverified throughsimulationsandexperiments．Theresultsdemonstratethattheproposednonlinearpositiontrackingcontroller,togetherwith theextendedsecond—orderdisturbanceobserver,givesanexcellenttrackingperformanceinthepresenceofparameteruncertainties andextemaldisturbance． Keywords：electro--hydraulicsystem ；single--rodactuator；disturbanceobserver；externaldisturbance；parameteruncertainty disutrbancesand 1essconservativeness 1『4]．So far． 1Introduction severaldisutrbanceobservershavebeen proposedofr electro—hydraulic servo systems．An integral sliding Electro．hydraulicservosystemsarewidelyusedin