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Real-time nonlinear adaptive force tracking control strategy for electrohydraulic systems with suppression of external vibration disturbance

  • Yu TangEmail author
  • Zhencai Zhu
  • Gang Shen
  • Guangchao Rui
  • Dong Cheng
  • Xiang Li
  • Yunjie Sa
Technical Paper
  • 63 Downloads

Abstract

Electrohydraulic system (EHS) is extensively utilized in experimental testing field for exerting forces on specimen, and in many occasions, force tracking of EHS is confronted with external motion disturbance, which seriously deteriorates the force tracking performance. To address this problem, a real-time nonlinear adaptive force control strategy is developed in this paper. On the basis of the established nonlinear model for EHS, the proposed nonlinear adaptive force controller is obtained by a recursive backstepping method, where both servo-valve nonlinearity and parametric uncertainties of general electrohydraulic systems are accounted for during the controller design procedure. The first advantage for the proposed controller lies in the fact that the actuator’s vibration disturbance information is utilized to serve the purpose of accurate force tracking. Besides, parametric uncertainties are effectively handled by the developed online adaptive updating law to achieve a higher force replication performance. Moreover, rigorous Lyapunov stability of the proposed controller is guaranteed. Finally, comparative experiments are implemented on a uniaxial EHS through xPC/Target rapid prototyping technique, and the relevant results validate the feasibility of the developed controller.

Keywords

Electrohydraulic system Force control Lyapunov stability Nonlinear control Adaptive control 

Notes

Acknowledgments

This research was supported by the Fundamental Research Funds for the Central Universities (No. 2017QNA16), Program for Changjiang Scholars and Innovative Research Team in University (No. IRT_16R68), and the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD). The authors would like to thank the Editors, Associate Editors, and anonymous reviewers for their constructive comments.

Compliance with ethical standards

Conflict of interest

The authors declare no conflict of interest.

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Copyright information

© The Brazilian Society of Mechanical Sciences and Engineering 2019

Authors and Affiliations

  1. 1.Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, School of Mechanical and Electrical EngineeringChina University of Mining and TechnologyXuzhouChina
  2. 2.Zhengzhou Institute of Mechanical and Electrical EngineeringZhengzhouChina
  3. 3.Henan Key Laboratory of Underwater Intelligent EquipmentZhengzhouChina

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