Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode SchemeReport as inadecuate




Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme - Download this document for free, or read online. Document in PDF available to download.

The Scientific World JournalVolume 2013 2013, Article ID 590708, 16 pages

Research ArticleSchool of Mechanical Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-732, Republic of Korea

Received 13 May 2013; Accepted 5 June 2013

Academic Editors: U. Lee and S. Liu

Copyright © 2013 Ji Min Lee et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

A robust control scheme is proposed for the position control of the electrohydrostatic actuator EHA when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.





Author: Ji Min Lee, Sung Hwan Park, and Jong Shik Kim

Source: https://www.hindawi.com/



DOWNLOAD PDF




Related documents