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research-article

A New Model Based Control Structure for Position Tracking in an Electro-Hydraulic Servo System with Acceleration Constraint

[+] Author and Article Information
Soheil Rezayi

Applied Mechanical Design Engineering Department, Faculty of Mechanical Engineering, Shahid Rajaee Teacher Training University Shahid Rajaee Teacher Training University, Shabanloo St., Emam Ali Hwy, Lavizan, Tehran, Iran
rezayi.soheil@gmail.com

Mohammadreza Arbabtafti

Assistant Professor, Applied Mechanical Design Engineering Department, Faculty of Mechanical Engineering, Shahid Rajaee Teacher Training University Shahid Rajaee Teacher Training University, Shabanloo St., Emam Ali Hwy, Lavizan, Tehran, Iran
arbabtafti@srttu.edu

1Corresponding author.

ASME doi:10.1115/1.4036878 History: Received November 16, 2016; Revised May 10, 2017

Abstract

A new variable structure control (VSC) strategy consists of two separate sliding mode controllers (SMC) with a switching mechanism is designed to address position tracking problem of electro-hydraulic servo systems (EHS) with acceleration constraint which can be found in numerous mechatronics and industrial control system applications. Examples include fatigue testing systems, plate hot rolling systems, injection molding machines, hydraulic elevators, and robotic arms. In this paper, at first, a complete model of an electro-hydraulic system is proposed in which detailed mathematical descriptions for all elements are included. Not only is a more accurate model capable of providing a fertile ground for simulation studies, but also it could contribute towards better results in the control approach. Furthermore, based on the variable dynamic behavior of EHS in forward and return motions, two separate SMC synchronizing with a switching mechanism are applied. This novel approach calculate two separate control input in each instance for each dynamic behavior of the system and the switching mechanism decides which one should utilize. It is shown that the proposed control method, despite model uncertainties and external disturbances, tracks the reference position with error in scale of 10-3, and its remarkable accuracy in tracking trajectories with acceleration constraint which has a great deal of importance in the sense of many industrial applications is proved.

Copyright (c) 2017 by ASME
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