Synchronization control for electro-hydraulic dual-cylinder system based on force/position switching

被引：1
作者：
Cheng, Ningbo [1 ]
Wang, Liping [1 ]
Guan, Liwen [1 ]
Han, Jian [1 ]
机构：
[1] Department of Precision Instrument and Mechanology, Tsinghua University
来源：
High Technology Letters | 2013年 / 19卷 / 03期
关键词：
Force control; Hydraulic servo control; Nonlinear control; Sliding mode control; Synchronization control;
D O I：
10.3772/j.issn.1006-6748.2013.03.001
中图分类号：
学科分类号：
摘要：
If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom (DOF) of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme: the master-master+force/position switching control and the master-slave+force/position switching control. Simulations show that the proposed synchronization control methods can get a better performance compared with two given position-based control methods. Copyright © by HIGH TECHNOLOGY LETTERS PRESS.
引用
收藏
页码：221 / 227
页数：6
相关论文
共 25 条
  • [1] Sun H., Chiu G.T.C., Motion synchronization for dual-cylinder electrohydraulic lift systems, IEEE/ASME Transactions on Mechtronics, 7, 2, pp. 171-181, (2002)
  • [2] Chen C.Y., Liu L.Q., Cheng C.C., Et al., Fuzzy controller design for synchronous motion in a dual-cylinder electro-hydraulic system, Control Engineering Practice, 16, 6, pp. 658-673, (2008)
  • [3] Xiao Y., Zhu K., Liaw H.C., Generalized synchronization control of multi-axis motion, Control Engineering Practice, 13, 7, pp. 809-819, (2005)
  • [4] Fu Y.L., Zhao K.D., Liu Q.H., Study on dual electro-hyraulic servo motor synchronizing drive, Acta Aeronautica et Astronautica Sinica, 17, 2, pp. 243-247, (1996)
  • [5] Plummer A., A general co-ordinate transformation framework for multi-axis motion control with applications in the testing industry, Control Engineering Practice, 18, 6, pp. 598-607, (2010)
  • [6] Hahn H., Piepenbrink A., Leimbach K.D., Input/output linearization control of an electro servo-hydraulic actuator, 1994 Proceedings of the Third IEEE Conference on Control Applications, pp. 995-1000, (1994)
  • [7] Chiriboga J., Thein M.W.L., Misawa E.A., Input-output feedback linearization control of a load-sensing hydraulic servo system, Proceedings of the 4th IEEE Conference on Control Applications, pp. 910-915, (1995)
  • [8] Sohl G.A., Bobrow J.E., Experiments and simulations on the nonlinear control of a hydraulic servo system, IEEE Transactions on Control Systems Technology, 7, 2, pp. 238-247, (1999)
  • [9] Bobrow J.E., Lum K., Adaptive, high bandwidth control of a hydraulic actuator, Journal of Dynamic Systems, Measurement and Control-Transactions of the ASME, 118, 4, pp. 714-720, (1996)
  • [10] Yao B., Bu F.P., Reedy J., Et al., Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments, IEEE-ASME Transactions on Mechatronics, 5, 1, pp. 79-91, (2000)
123