Fault Estimation and Fault-Tolerant Control for the Pump-Controlled Electrohydraulic System
Abstract
:1. Introduction
2. System Modeling and Problem Statement
2.1. Mechanical Dynamics
2.2. Hydraulic Dynamics
3. Fault-Observer-Based Tolerant Controller Design
3.1. Extended State Observer for Internal Leakage Fault Estimation
3.2. Disturbance Observer for External Force Estimation
3.3. Backstepping Sliding Mode Controller Design
3.4. Stability Analysis
4. Simulation Results
4.1. Simulation Descriptions
4.2. Simulation Results
4.2.1. The First Simulation Case
4.2.2. The Second Simulations Case
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
Appendix A
Appendix B
References
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Symbol | Component | Symbol | Component |
---|---|---|---|
01 | AC driver | 06.1, 06.2 | Pilot check valves |
02 | AC motor | 07 | Directional valve |
03 | Reservoirs | 08.1, 08.2 | Relief valves |
04 | Hydraulic gear pump | 09 | Hydraulic cylinder |
05.1, 05.2 | Check valves |
Parameter | Value | Parameter | Value |
---|---|---|---|
m | 9.32 kg | m2 | |
258 Ns/m | m2 | ||
532 N | m3 | ||
10π rad/(sV) | m3 | ||
15 | Pa | ||
10 | m3/rad |
Controllers | Parameters |
---|---|
PID | |
DBS | |
Proposed control |
Symbols | Value | Symbols | Value |
---|---|---|---|
3 | 25 | ||
6 | 220,828 | ||
0.001 | 98,398 | ||
305.5 | 380,844 | ||
0.8 |
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Trinh, H.A.; Truong, H.V.A.; Ahn, K.K. Fault Estimation and Fault-Tolerant Control for the Pump-Controlled Electrohydraulic System. Actuators 2020, 9, 132. https://doi.org/10.3390/act9040132
Trinh HA, Truong HVA, Ahn KK. Fault Estimation and Fault-Tolerant Control for the Pump-Controlled Electrohydraulic System. Actuators. 2020; 9(4):132. https://doi.org/10.3390/act9040132
Chicago/Turabian StyleTrinh, Hoai An, Hoai Vu Anh Truong, and Kyoung Kwan Ahn. 2020. "Fault Estimation and Fault-Tolerant Control for the Pump-Controlled Electrohydraulic System" Actuators 9, no. 4: 132. https://doi.org/10.3390/act9040132