Introduction

International Standard Serial Number:

ISSN 1001-4551

Sponsor:

Zhejiang University;

Zhejiang Machinery and Electrical Group

Edited by:

Editorial of Journal of Mechanical & Electrical Engineering

Chief Editor:

ZHAO Qun

Vice Chief Editor:

TANG ren-zhong,

LUO Xiang-yang

Tel:

86-571-87041360,87239525

Fax:

86-571-87239571

Add:

No.9 Gaoguannong,Daxue Road,Hangzhou,China

P.C:

310009

E-mail:

meem_contribute@163.com

Sliding mode observer and RBF based backstepping control for electro-hydraulic position servo system
Published:2024-03-26 author:LU Bing, CHENG Minghe. Browse: 942 Check PDF documents
Sliding mode observer and RBF based backstepping control for 
electro-hydraulic position servo system


LU Bing1, CHENG Minghe2

(1.School of Mechanical Engineering, Nanjing Vocational Institute of Mechatronic Technology, Nanjing 211300, China; 
2.College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)


Abstract:  Aiming at the common problems of unknown disturbance, nonlinear dynamics and parametric uncertainty in the electro-hydraulic servo system, a backstepping control (BC)method based on sliding mode observer and radial basis function(RBF)neural network was proposed. Firstly, a three-order strict feedback state space model of the valve-controlled cylinder system was constructed,and the sliding mode observer with finite time convergence characteristics was used to estimate the unknown speed state of the closed-loop system and the uncertain lumped disturbance of mismatched items. Then, the backstepping controller was designed based on the strict feedback model of the valve-controlled cylinder system and command filtered technology. The classic recursive backstepping methodology was utilized to design the nonlinear tracking controller according to the strictly feedback state-space mathematical model. The radial basis function neural network (RBFNN) was used to compensate the estimation error of the system speed and disturbance states, the filtering deviation and the matching term disturbance of the system, etc. According to Lyapunov stability theorem, the asymptotic bounded convergence of the tracking error for the closed-loop system was proved. Finally, valve-controlled cylinder electro-hydraulic control system test platform was established and the tracking performance of the control method on multi frequency reference signals was verified by comparative simulation and experiment. The research results demonstrate that the control method can further improve the trajectory tracking accuracy and robustness. Maximum experimental tracking error Me, average tracking error μ and mean square value of tracking error σ are respectively decreased by 66.7%, 80%, and 83.3%. Therefore, the proposed sliding mode disturbance observer and RBF compensator can effectively reduce the impact of various disturbances.

Key words:  electro-hydraulic servo system; position tracking performance; radial basis function(RBF); radial basis function neural network(RBFNN); backstepping control(BC); sliding mode observer; Lyapunov

Advanced Search
Online Office System
  • Chinese Core Periodicals
  • Chinese Sci-tech Core Periodicals
  • SA, INSPEC Indexed
  • CSA: T Indexed
  • UPD:Indexed


2010 Zhejiang Information Institute of Mechinery Industry

Technical Support：Hangzhou Bory science and technology

You are 1895221 visit this site