Adaptive Backstepping Sliding Mode Control for Direct Driven Hydraulics †
Abstract
:1. Introduction
2. DDH and Modelling
2.1. DDH
2.2. Modelling of DDH
3. Design of ABSMC Controller
3.1. Design of ABSMC and the Adaptive Law of Unknown Parameters
3.2. Stability Verification
4. Simulation and Analysis
4.1. Simulation Model
4.2. Load and Disturbance
4.3. Simulation Analysis
4.3.1. Simple Sinusoidal Signal
4.3.2. Multifrequency Sinusoidal Signal
5. Conclusions
Author Contributions
Acknowledgments
Conflicts of Interest
Abbreviations
EHA | Electro-hydraulic actuator. |
DDH | Direct driven hydraulics. |
ABSMC | Adaptive backstepping sliding mode control. |
PID | Proportional–integra–-differential. |
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No. | Component | Parameters | Value |
---|---|---|---|
1 | Synchronous Torque Motor | Rated Torque [Nm] | 4.5 |
Rated Speed [rpm] | 2500 | ||
2 | A-Side Pump | Volumetric Displacement (DA) [cm3/rev] | 13.03 |
3 | B-Side Pump | Volumetric Displacement (DB) [cm3/rev] | 9.35 |
4 | Hydraulic Accumulator | Volume [L] | 0.7 |
5 | Cylinder | Dimensions [mm] | 60/30*400 |
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Zhang, S.; Chen, T.; Dai, F. Adaptive Backstepping Sliding Mode Control for Direct Driven Hydraulics. Proceedings 2020, 64, 1. https://doi.org/10.3390/IeCAT2020-08496
Zhang S, Chen T, Dai F. Adaptive Backstepping Sliding Mode Control for Direct Driven Hydraulics. Proceedings. 2020; 64(1):1. https://doi.org/10.3390/IeCAT2020-08496
Chicago/Turabian StyleZhang, Shuzhong, Tianyi Chen, and Fuquan Dai. 2020. "Adaptive Backstepping Sliding Mode Control for Direct Driven Hydraulics" Proceedings 64, no. 1: 1. https://doi.org/10.3390/IeCAT2020-08496