Tracking Control for Electro-hydraulic Positioning Servo System Based on Disturbance Observer

LIU Long;YAO Jian-yong;HU Jian;MA Da-wei;DENGWen-xiang

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2015, Vol. 36 ›› Issue (11) : 2053-2061. DOI: 10.3969/j.issn.1000-1093.2015.11.006
Paper

Tracking Control for Electro-hydraulic Positioning Servo System Based on Disturbance Observer

  • LIU Long， YAO Jian-yong， HU Jian，MA Da-wei，DENGWen-xiang
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Abstract

A kind of modeling uncertainties compensation control strategy based on sliding mode is proposed for electro-hydraulic positioning servo system with matched and unmatched modeling uncertainties. A sliding mode observer is designed to estimate the matched and unmatched modeling uncertainties of electro-hydraulic positioning servo system and compensate the uncertainties during the design of the sliding mode controller, thus effectively weakening the discontinuous term gain. The sliding surface of observer is introduced to the sliding surface of controller to construct a new controller sliding surface and eliminate the estimation error of uncertainties so that the good dynamic performance of the controller can be ensured. Besides, the deterioration of tracking performance, which comes from the measured noise, can be reduced without system acceleration. Finally, the global stability of the closed-loop system is verified by the Lyapunov stability theory. Simulation results show that the matched and unmatched modeling uncertainties of the electro-hydraulic positioning servo system can be compensated by the proposed method compared with the integral sliding model control strategy. At the meantime, the chattering of sliding mode control is weakened, and the system possesses good tracking performance and strong robustness.

Key words

control science and technology / electro-hydraulic positioning servo system / modeling uncertainty / sliding mode observer / sliding mode control

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LIU Long， YAO Jian-yong， HU Jian，MA Da-wei，DENGWen-xiang. Tracking Control for Electro-hydraulic Positioning Servo System Based on Disturbance Observer. Acta Armamentarii. 2015, 36(11): 2053-2061 https://doi.org/10.3969/j.issn.1000-1093.2015.11.006

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