《机电工程》杂志社科技期刊核心期刊论文投稿机电一体化机械、仪表电工自动化、计算机浙江大学主办

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

Trajectory tracking control of electro-hydraulic servo system based on interconnection and damping assignment framework

Published:2024-10-30 author:NIE Qiuxiao, CHEN Jian, GONG Junjie, et al. Browse: 132 Check PDF documents

Trajectory tracking control of electro-hydraulic servo system based on

interconnection and damping assignment framework

NIE Qiuxiao1, CHEN Jian2, GONG Junjie1, WU Xiaoxuan1, LONG Yu1

(1.School of Mechanical Engineering, Guangxi University, Nanning 530004, China;

2.School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China)

Abstract: The complex coupling nonlinearity, model uncertainty, and external load uncertainty of the electro-hydraulic servo system of medium and large excavators resulted in large trajectory tracking errors and poor dynamic performance of the system. A backstepping controller based on interconnection and damping assignment (IDA) framework was proposed to improve the tracking performance and robustness of excavator working devices in mining tasks. Firstly, a state space model of the electro-hydraulic servo system was constructed using pilot valve, valve controlled asymmetric cylinder, and valve controlled asymmetric cylinder models. Furthermore, based on Hamiltonian theory, the state space model was constructed as a third order open-loop port Hamiltonian (pH) system with disturbances. Based on the interconnection matrix and damping matrix structure obtained from the pH system, the virtual control signal was gradually designed and the control law was ultimately obtained. Then, a matching equation was constructed to simplify the design and calculation process on other systems, and the expected energy function was used as a candidate Lyapunov function. Based on the Lyapunov stability theorem, the convergence and stability of the closed-loop system at the expected trajectory were proved. Finally, the trajectory tracking performance of the proposed control algorithm was verified through numerical simulation experiments on the excavator bucket and its electro-hydraulic servo system. The research results show that, without considering model uncertainty, the proposed controller improves convergence speed in position control by 1.9% to 6.3% compared to the other three controllers; maintaining excellent convergence speed in trajectory tracking while reducing maximum tracking error by 70% to 81%. In the case of model uncertainty and time-varying loads, the maximum tracking error in the face of impact only increases by 0.004 m, and the required control input for adjustment is reduced by 4% to 20%. The above results indicate that the proposed control algorithm has better comprehensive tracking performance and robustness.

Key words: excavator; electro-hydraulic servo system; bucket system; lead system model; valve controlled asymmetric cylinder model; interconnection and damping assignment passivity-based control(IDA-PBC); backstepping controller

Advanced Search

Online Office System

Chinese Core Periodicals
Chinese Sci-tech Core Periodicals
SA, INSPEC Indexed
CSA: T Indexed
UPD:Indexed