Research Papers

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,
Shabanloo Street, Emam Ali Highway, Lavizan, Mail Box: 16785-136,
Tehran 1678815811, Iran
e-mail: rezayi.soheil@gmail.com

Mohammadreza Arbabtafti

Applied Mechanical Design
Engineering Department,
Faculty of Mechanical Engineering,
Shahid Rajaee Teacher Training University,
Shabanloo Street, Emam Ali Highway, Lavizan, Mail Box: 16785-136,
Tehran 1678815811, Iran
e-mail: arbabtafti@srttu.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 16, 2016; final manuscript received May 10, 2017; published online August 10, 2017. Assoc. Editor: Evangelos Papadopoulos.

J. Dyn. Sys., Meas., Control 139(12), 121006 (Aug 10, 2017) (11 pages) Paper No: DS-16-1560; doi: 10.1115/1.4036878 History: Received November 16, 2016; Revised May 10, 2017

A new variable structure control strategy consists of two separate sliding mode controllers (SMCs) with a switching mechanism 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, 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 toward better results in the control approach. Furthermore, based on the variable dynamic behavior of EHS in forward and return motions, two separate SMCs synchronizing with a switching mechanism are applied. This novel approach calculates 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.

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Fig. 2

Schematic diagram of spool inside the proportional directional control valve

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Fig. 3

Schematic diagram of inner dynamics of a proportional pressure relief valve

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Fig. 1

Schematic diagram of the electro-hydraulic servo system

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Fig. 4

Linear path with parabolic blends

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Fig. 6

Schematic block diagram of system

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Fig. 5

Chattering and boundary layer

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Fig. 7

Overall scheme of the presented control strategy

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Fig. 8

Smooth step tracking performance: (a) tracking performance and (b) tracking error

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Fig. 9

Smooth step tracking: (a) velocity and (b) control input

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Fig. 10

Directional control valve spool position

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Fig. 11

Sinusoidal tracking performance

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Fig. 18

Trajectory tracking in the presence of load disturbance: (a) tracking performance and (b) tracking error

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Fig. 17

Trajectory tracking in presence of model uncertainty: (a) tracking performance and (b) tracking error

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Fig. 19

Trajectory tracking in the presence of excessive load disturbance: (a) tracking performance and (b) tracking error

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Fig. 12

Sinusoidal tracking: (a) tracking error and (b) velocity

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Fig. 13

Pressure diagram: (a) P1 and (b) P2

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Fig. 14

Flow diagram: (a) Q1 and (b) Q2

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Fig. 15

Trajectory tracking performance with acceleration constraint

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Fig. 16

Trajectory tracking with acceleration constraint: (a) tracking error and (b) velocity




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