Schmidt, Lasse2; Andersen, Torben Ole1; Pedersen, Henrik C.2; Bech, Michael Møller3
1 Aalborg U Robotics, The Faculty of Humanities, Aalborg University, VBN2 Fluid Power and Mechatronic Systems, The Faculty of Engineering and Science, Aalborg University, VBN3 Department of Energy Technology, The Faculty of Engineering and Science, Aalborg University, VBN4 The Faculty of Engineering and Science, Aalborg University, VBN
This paper presents the development of a sliding mode control scheme with chattering elimination, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives. The proposed control scheme requires only common data sheet information, no knowledge on load characteristics, and employs piston- and valve spool positions- and load- and supply pressure feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems. In order to accomplish this task, an integral sliding mode controller is developed for the control derivative based on a reduced order model. Simulation results demonstrate strong robustness when subjected to parameter perturbations and that chattering is eliminated.
Applied Mechanics and Materials, 2012, Vol 233, p. 168-171