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Keywords = continuous rotary electro-hydraulic servo motor

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15 pages, 2897 KB  
Article
Friction Feedforward Compensation Composite Control of Continuous Rotary Motor with Sliding Mode Variable Structure Based on an Improved Power Reaching Law
by Xiaojing Wang, Bocheng Bai and Yaming Feng
Electronics 2023, 12(6), 1447; https://doi.org/10.3390/electronics12061447 - 18 Mar 2023
Viewed by 2671
Abstract
In order to meet the accuracy requirements and tracking performance of continuous rotary electro-hydraulic servo motor system under nonlinear uncertainty and strong disturbance factors, the sliding mode variable structure composite control strategy based on an improved power reaching law is proposed. Based on [...] Read more.
In order to meet the accuracy requirements and tracking performance of continuous rotary electro-hydraulic servo motor system under nonlinear uncertainty and strong disturbance factors, the sliding mode variable structure composite control strategy based on an improved power reaching law is proposed. Based on the principle of valve-controlled hydraulic motor, the state space model of the motor system is established, and a continuous friction model is adopted. Then, the genetic algorithm is used for parameter identification to determine the friction feedforward compensation scheme. In addition, an improved power reaching law is designed, which can adaptively adjust the system chattering according to the system state. The simulation results show that the sliding mode variable structure composite controller with the friction feedforward compensation can achieve a system frequency of 15 Hz, and tracking accuracy and response speed meet the double-decade index requirements, which improve the performance of continuous rotary electro-hydraulic servo motor. Full article
(This article belongs to the Special Issue Mechatronic Control Engineering Volume II)
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16 pages, 6533 KB  
Article
Research on the Finite Time Compound Control of Continuous Rotary Motor Electro-Hydraulic Servo System
by Xiao-Jing Wang, Qi-Zheng Zhang and Chun-Hui Li
Electronics 2022, 11(10), 1515; https://doi.org/10.3390/electronics11101515 - 10 May 2022
Cited by 1 | Viewed by 1956
Abstract
Aiming at the influence of friction, leakage, noise and other nonlinear factors on the performance of the electro-hydraulic servo system of a continuous rotary motor, a finite-time composite controller for the aforementioned servo system is proposed. First, a mathematical model of the electro-hydraulic [...] Read more.
Aiming at the influence of friction, leakage, noise and other nonlinear factors on the performance of the electro-hydraulic servo system of a continuous rotary motor, a finite-time composite controller for the aforementioned servo system is proposed. First, a mathematical model of the electro-hydraulic servo system was analyzed, and the input and output angle data of the motor were collected for system identification. Subsequently, the ARMAX identification model of the continuous rotary motor system was obtained. Then, according to the observed advantages, namely faster capability of the finite-time controller (FTC) to converge the system, and ability of the finite-time observer to reduce the steady-state error of the system, the finite-time controller and finite-time state observer of a continuous rotary electro-hydraulic servo motor were respectively designed. Finally, comparison with PID control simulation shows that the compound controller could effectively improve the control accuracy and performance of the system. Full article
(This article belongs to the Special Issue Mechatronic Control Engineering)
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