Output feedback control of electro-hydraulic asymmetric cylinder system with disturbances rejection

Zhao

Journal of Vibration and Control

et al. 2022

Self Cite

The position control of the driving cylinder of hydraulic support affects the straightness of the underground coal mining face, so this paper focuses on improving tracking performance of the driving cylinder system. Since only position signal of the system is measurable, a Levant differentiator is designed to estimate the velocity and acceleration of the driving cylinder system, which can reduce the effect of the measurement noise. Besides, the parameter changes, modelling errors and external disturbances are treated as a lumped disturbance, an extended disturbance observer is constructed to estimate the lumped disturbance and compensate for the proposed controller. Moreover, barrier Lyapunov function is introduced to limit the tracking error into a small set around zero, and then the stability of the close-loop system is proved. Both the performance of differentiator and disturbance observer is verified in simulation experiments in MATLAB/Simulink. Finally, an experiment rig for the driving cylinder system of hydraulic support is established and comparative experiments are carried out. The experiment results show that the proposed extended disturbance observer-based output feedback controller with error constraint has a satisfied effectiveness in improving tracking performance.

“…The pressure dynamic of the two chambers of the asymmetric cylinder with the ignorance of the external leakage can be shown as follows (Wang et al, 2021).…”

Section: Model Of the System To Be Controlledmentioning

confidence: 99%

Output feedback control for the driving cylinder of hydraulic support with error constraint

Zhao

Journal of Vibration and Control

et al. 2022

Self Cite

“…With the development of electro-hydraulic proportional control and electro-hydraulic servo control technology, the control mode based on displacement feedback control mode and force-displacement composite control mode is widely used [10]. Several pieces of research have proved that displacement control mode can be used to achieve precise control of shield cylinder displacement, and it can control the cylinder movement more accurately to adjust the shield pose, avoiding lag and inaccuracy of force control [11,12]. These pieces of research make it possible to study pose control of shield machines based on the kinematic model of the thrust system.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Virtual Prototype Simulation of the Thrust Mechanism for Shield Machine

et al. 2022

The hydraulic thrust system of the shield machine is used for driving forward and pose adjustment. It is of great significance to figure out the thrust mechanism and motion characteristics of the shield machine to ensure the safety of tunnel excavation. This study aims to develop a model to explore the influence of thrust cylinder advancement on the motions of the shield machine. Firstly, the study carried out mechanism analysis of the thrust mechanism for the shield machine and established a method to describe the position and attitude of the shield machine during the tunneling process by the homogeneous transformation matrix. Then, a new inverse kinematic model was proposed to quantify the relationship between the telescoping movements of cylinders and shield machine motions, and the Jacobian matrix was derived to solve the instantaneous kinematics analysis. Furthermore, a virtual prototype model was developed to simulate the kinematic behavior of the shield machine and validate the accuracy of the kinematic model. The model provides the basic constraint relations for the practical position control system and lays a strong foundation for the dynamic model and automatic trajectory tracking control of shield machines for future studies. Based on the proposed model, the displacement, velocity, and acceleration of cylinders that drive the shield machine to the target motions can be solved exactly. It can provide a reference for the pose control of the shield machine during the practical shield tunneling.

“…Electro‐hydraulic actuators (EHA) have been widely used in many industrial and mobile applications such as civil engineering, 1 ocean engineering, 2 and mining engineering 3 . Compared with electric transmission and pneumatic transmission, hydraulic transmission has the advantages of high power‐to‐weight ratio and strong overload capacity, 4,5 but it also has the disadvantages of strong nonlinearity and high system order, which brings difficulties to the precise control of EHA. In addition, unknown variable load force exacerbates the difficulty of the accuracy control for the hydraulic system.…”

Section: Introductionmentioning

confidence: 99%

Neural network‐based output synchronization control for multi‐actuator system

Adaptive Control & Signal

Ding

Zhao

et al. 2022

Self Cite

This article proposes a novel output synchronization control strategy for a class of multi-actuator system with strict-feedback form. High-order sliding mode observer is utilized to estimate the system states with the only available output signal. Moreover, radio basis function neural network combined estimated states is applied to handle the system uncertainties, which helps to realize the combination of state observation and disturbance observation and reduce the dependence on the system model. Furthermore, a new synchronization control method is employed to improve the synchronization accuracy of multiple actuators through backstepping technology. Based on the above control strategies, the control performance of the multi-actuator system is greatly enhanced while the design difficulty of the controller is significantly reduced. In the end, simulations and experiments examples are used to illustrate the superiority of the designed technique.