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Appl. Sci. 2016, 6(8), 220; doi:10.3390/app6080220

Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
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Author to whom correspondence should be addressed.
Academic Editor: Chien-Hung Liu
Received: 6 July 2016 / Revised: 29 July 2016 / Accepted: 1 August 2016 / Published: 5 August 2016

Abstract

This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control using a novel based on sliding mode control based on adaptive reaching law (ASMC), which can adaptively tune the parameters of sliding mode control (SMC), is proposed to reduce the synchronization error. To improve the tracking performance, the observer-based inverse control scheme combining the feed-forward inverse model controller and disturbance observer is proposed. The system model is identified applying the recursive least squares (RLS) algorithm and then the feed-forward inverse controller is designed based on zero phase error tracking controller (ZPETC) technique. To compensate disturbance and model errors, disturbance observer is used cooperating with the designed inverse controller. The combination of the novel ASMC cross-coupled controller and proposed observer-based inverse controller can improve the control precision noticeably. The dual-shaking table experiment system is built and various experiments are performed. The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16% compared with traditional control schemes. View Full-Text
Keywords: dual-shaking table; system optimal design; synchronization and tracking control; adaptive sliding mode control; feed-forward inverse control; observer-based compensation dual-shaking table; system optimal design; synchronization and tracking control; adaptive sliding mode control; feed-forward inverse control; observer-based compensation
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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. (CC BY 4.0).

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MDPI and ACS Style

Zhang, L.; Cong, D.; Yang, Z.; Zhang, Y.; Han, J. Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System. Appl. Sci. 2016, 6, 220.

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