Accurate motion control of a servopneumatic system using integral sliding mode control

Carneiro, João Falcão; Almeida, Fernando Gomes de

doi:10.1007/s00170-014-6518-8

Cited by 21 publications

(6 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Noting that the output of PID and APID fully hinges on position error such that error of position and PL are inevitable. Two equations, (17) and (21), told that outcome of ADCM consists of estimated part and error part hence the decrease of amplitude attenuation and phase lag is reasonable. Accordingly, a reduction of 4.3°was found by comparing ADCM and APID.…”

Section: Figure 8 Eha Prototype Test Setupmentioning

confidence: 99%

“…In [9], [10], and [11], fuzzy and adaptive PIDs were used to compensate for the disturbance but limited improvements were obtained for the EHA control. In addition, robust control have been used, especially the sliding mode control (SMC), which is a wellknown robust control algorithm that can be used in both linear and nonlinear systems [12][13][14][15][16][17][18][19][20][21][22]. A discrete-time sliding mode control was conducted by Yang [14] because of the high efficiency in compensating for the uncertainties in the EHA through an appropriate approach.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Experimental Investigation of an Electro-Hydrostatic Actuator Based on the Novel Active Compensation Method

Wang

et al. 2020

IEEE Access

View full text Add to dashboard Cite

For electro-hydrostatic actuators (EHAs), how to estimate and compensate for the combined effects of the severe nonlinearity caused by inner leakage and friction, the parametric uncertainties of the hydraulic components due to the environment and the external disturbance remain the primary issues. In this paper, a novel four-loop cascade control based on the active disturbance compensation method was proposed to address the abovementioned problem. First, by dividing the model of an EHA, two low-order estimators were obtained rather than a high-order estimator, which are easier to be implemented. Further, pressure information of two chambers of the EHA was applied in the proposed controller to compensate for the mismatching disturbances directly. Finally, the experimental results proved that the proposed method improved the robustness and static state error by approximately 35% and 33%, respectively. INDEX TERMS EHA, servo control, ADCM, modeling, low velocity I.INTRODUCTION

show abstract

Section: Figure 8 Eha Prototype Test Setupmentioning

confidence: 99%

mentioning

confidence: 99%

Experimental Investigation of an Electro-Hydrostatic Actuator Based on the Novel Active Compensation Method

Wang

et al. 2020

IEEE Access

View full text Add to dashboard Cite

show abstract

“…where L is the gain of Kalman filter, andx is the state estimation of x.In the TSMC, very small external disturbances and parameters perturbation will cause the sliding mode control chattering [26,27]. In this situation, a large switching gain should be employed to eliminate the influence of external disturbance and uncertainties on the control performance.…”

Section: Smc Based On Lqcmentioning

confidence: 99%

Structure design and rotation control of the disc milling head in blisk manufacturing

Zhao

Huang

Shi

2016

Int J Adv Manuf Technol

View full text Add to dashboard Cite

Blisks are the most important and critical components in the gas turbine engines, which could reduce the weight obviously and improve the efficiency significantly. To achieve high efficient machining of the titanium-based blisk, a powerful and composite processing method is proposed and structure of disc milling head with high stiffness and high precision is designed, including mechanical transmission, electrical system, rotating control, locking device, and tool changer. Then, static and dynamic analyses are carried out for the disc milling head, and calculation results show that the static and dynamic performances are perfect, which satisfy the processing requirements. Considering friction and backlash in the worm gear transmission, parameters perturbation in the electrical control system, and process noise and measurement noise in the system have serious impact on the positioning precision of disc milling rotation system, a robust sliding mode control (SMC) algorithm based on linear quadratic optimal control (LQC) is proposed. Based on the traditional LQC, introduce the state estimation based on Kalman filter and control input, improve the system state space model, and define a new sliding surface equation, then, a robust SMC based on LQC is finished. Simulation and experiment results show that the designed controller is robust to the nonlinearities and uncertainties in the rotation control system of disc milling head and can achieve high positioning precision.

show abstract

“…Furthermore, the friction LuGre-based modeling makes it possible to design friction force observers that can be used for friction compensation in such controllers [5,7]. It is important to highlight that, although friction models are required in many controllers, there are also controllers obtaining good motion control results even in the absence of friction models, as, for example, [32], where a sliding mode control strategy is used.…”

Section: Introductionmentioning

confidence: 99%

Mathematical modeling of pneumatic semi-rotary actuator with friction

Schluter

Perondi

2018

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

In this paper, the problem of modeling a pneumatic semi-rotary actuator for precise control in the presence of friction for future robotic manipulator applications is addressed. Precise commercial pneumatic components have become increasingly available and are widely applied in the processes and manufacturing industry. The robustness of pneumatic actuator solutions is limited by the precision of the system controller positioning, which depends on sophisticated algorithms that must deal with the highly nonlinear nature of the pneumatic system operation by means of the use of controllers that require suitable system knowledge. In this study, aiming at obtaining such a suitable model for a class of pneumatic semi-rotary actuator, the pressure dynamics in its chambers is modeled. The overall modeling task involves a detailed experimental identification of the curves of the mass flow rate related to the control voltage of the servovalve and its relationship with the pressures in the piston chambers. Moreover, friction was formulated with the LuGre model on account of its ability to represent different effects that comprise friction phenomena, including Coulomb, viscous and static friction effects, resulting in a comprehensive mathematical model for supporting future development of a nonlinear controller. Finally, validation in open loop was performed with comparisons between experimental and simulation results.

show abstract

Accurate motion control of a servopneumatic system using integral sliding mode control

Cited by 21 publications

References 32 publications

Experimental Investigation of an Electro-Hydrostatic Actuator Based on the Novel Active Compensation Method

Experimental Investigation of an Electro-Hydrostatic Actuator Based on the Novel Active Compensation Method

Structure design and rotation control of the disc milling head in blisk manufacturing

Mathematical modeling of pneumatic semi-rotary actuator with friction

Contact Info

Product

Resources

About