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

doi:10.3969/j.issn.1000-1093.2015.11.006

Abstract

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

CLC Number:

TP273

LIU Long， YAO Jian-yong， HU Jian， MA Da-wei， DENG Wen-xiang. Tracking Control for Electro-hydraulic Positioning Servo System Based on Disturbance Observer[J]. Acta Armamentarii, 2015, 36(11): 2053-2061.

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