High precise tracking control for hydraulic servo system with large friction torque based on state friction observer

摘要：

Precise tracking control for electro-hydraulic servo systems is a critical but difficult issue to be addressed,especially in the situation of large friction torques and low velocities.To address this problem,a novel control scheme is proposed in this paper based on a sliding-mode variable structure controller and a friction observer.The sliding-mode variable structure control law and the sliding-mode friction observer are detailed.The bristle dynamic friction model is adopted to estimate the friction torques and reduce the effects caused by the nonlinear frictions.The proposed control scheme is verified and validated through experimental results.The results show that good position tracking performance with high precision is attained in the presence of dynamic friction even with large friction torques and very low velocities.

关键词： Sliding mode control Friction compensation Large friction torque State observer Hydraulic servo system

作者: Zhong-hua Miao Xu-yong Wang Cheng-liang Liu Wei-feng Zhang

作者单位: School of Mechanical Engeering,Shanghai Jiaotong University,Shanghai,China School of Mechanical Engeering,Qingdao University of Science & Technology,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）