Simulation Research on Adaptive Robust Control for Pump Controlled Differential Cylinder
Author(s): ZHANG Hong, WEI Peng-bin, TU Jin-yu, GUO Kai, LIU Zhong-xian
Pages: 36-42
Year: 2016 Issue: 8
Journal: Hydraulics Pneumatics & Seals
Keyword: adaptive control; robust control; pump controlled differential cylinder;
Abstract: This paper studies the high performance robust motion control of pump controlled differential cylinder. The dynamics of pump controlled differential cylinder exist highly non-linear and have large extent of model uncertainties. To address these challenging issues, pro-posed adaptive robust control (ARC) strategy is applied and a discontinuous projection based ARC controller is constructed. The controller is able to take into account not only the effect of the parameter variations of the inertia load and the differential cylinder hydraulic parame-ters but also the uncertain non-linarites such as the uncompensated friction forces and external disturbances. A loading cycle derived from the boom hydraulic cylinder's external load signals and displacement signals in Bobcat 435 excavator was used as input signals to the simula-tion model and proved correctly finally. The simulation results show that ARC controller can quickly and accurately estimate the external load, and can greatly weaken the disturbance from external load, and can achieve a small tracking error in the pump controlled differential cylinder system.
Pages: 36-42
Year: 2016 Issue: 8
Journal: Hydraulics Pneumatics & Seals
Keyword: adaptive control; robust control; pump controlled differential cylinder;
Abstract: This paper studies the high performance robust motion control of pump controlled differential cylinder. The dynamics of pump controlled differential cylinder exist highly non-linear and have large extent of model uncertainties. To address these challenging issues, pro-posed adaptive robust control (ARC) strategy is applied and a discontinuous projection based ARC controller is constructed. The controller is able to take into account not only the effect of the parameter variations of the inertia load and the differential cylinder hydraulic parame-ters but also the uncertain non-linarites such as the uncompensated friction forces and external disturbances. A loading cycle derived from the boom hydraulic cylinder's external load signals and displacement signals in Bobcat 435 excavator was used as input signals to the simula-tion model and proved correctly finally. The simulation results show that ARC controller can quickly and accurately estimate the external load, and can greatly weaken the disturbance from external load, and can achieve a small tracking error in the pump controlled differential cylinder system.
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