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Robust output feedback control of electro-hydraulic system

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Abstract

This paper presents output feedback second order sliding mode control to achieve robust finite time position control for Electro-Hydraulic Servo System (EHSS). The system is subjected to inherent uncertainties, parametric perturbations and disturbances. A nonlinear dynamics of EHSS is represented by linear uncertain dynamics for the sake of control design. A relative degree one sliding surface is proposed. It is shown that super twisting controller using this relative degree one sliding surface attains finite time positioning. Further disturbance estimation is used to augment the control for getting desired performance with less control effort. The method is validated in simulation and experiment both. The performance of the proposed controller is compared with the super twisting controller devised using non singular terminal sliding surface which also yields finite time positioning.

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Abbreviations

v :

Applied voltage (V)

i :

Current through coil (A)

R :

Resistance of coil (\(\Omega \))

\(L({x_s})\) :

Inductance of coil which is a function of spool displacement \(x_s\) (H)

N :

Number of turns in coil

\({R_l}\) :

Total reluctance (Mho)

\({{\mu }_0}\) :

Magnetic permeability (\(\hbox {N}/\hbox {A}^2\))

\({{\mu }_r}\) :

Relative permeability of ferromagnetic material (\(\hbox {N}/\hbox {A}^2\))

\({A_p}\) :

Cross section area of plunger (\(\hbox {m}^2\))

\({l_p}\) :

Length of plunger (m)

\({l_a}\) :

Air gap length (m)

\({x_s}\) :

Spool-plunger displacement (m)

\(m_s\) :

Mass of (plunger + spool) assembly (kg)

b :

Damping coefficient of spool (Ns/m)

k :

Spring coefficient of spool (N/m)

\({q_{1}}\), \({q_{2}}\) :

Flow rate in chamber 1 and 2 (\({\hbox {m}^3/\hbox {s}}\))

\({c_d}\) :

Flow discharge coefficient

\({\omega }\) :

Area gradient (\(\hbox {m}^2/\hbox {m}\))

\({p_s}\) :

Supply pressure of system (\(\hbox {N}/\hbox {m}^2\))

\({p_1}\), \({p_2}\) :

Pressure in chamber 1 and chamber 2 (\(\hbox {N}/\hbox {m}^2\))

\({v_1}\), \({v_2}\) :

Volume in chamber 1 and 2 (\(\hbox {m}^3\))

\({v_i}\), \({v_f}\) :

Initial volume in chamber 1 and final volume in chamber 2 (\(\hbox {m}^3\))

\({A_a}\) :

Cross sectional area of piston in chamber 1 (\({\hbox {m}^2}\))

\({A_b}\) :

Cross sectional area of piston in chamber 2 (\({\hbox {m}^2}\))

\({v_{p_1}}\), \({v_{p_2}}\) :

Volume of chamber 1 and 2 of pressure port (\(\hbox {m}^3\))

\({\rho }\) :

Density of hydraulic fluid used (\(\hbox {kg}/\hbox {m}^3\))

\({\beta }\) :

Bulk modulus of hydraulic fluid (\(\hbox {N}/\hbox {m}^2\))

\({x_l}\) :

Load displacement (m)

\(m_l\) :

Mass of load (kg)

\(b_l\) :

Damping coefficient of load (Ns/m)

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Authors and Affiliations

  1. Department of Electrical Engineering, College of Engineering, Pune and Faculty at EED, AISSMS’s IOIT, Pune, India

    Ashpana Shiralkar

  2. Department of Electrical Engineering, College of Engineering, Pune, India

    Shailaja Kurode & Bhagyashri Tamhane

  3. Honeywell Automation Pvt. Ltd., Pune, India

    Ruchira Gore

Authors
  1. Ashpana Shiralkar
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  2. Shailaja Kurode
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  3. Ruchira Gore
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  4. Bhagyashri Tamhane
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Corresponding author

Correspondence to Ashpana Shiralkar.

Additional information

The authors would like to acknowledge the financial support of the Board of College and University Development, Savitribai Phule Pune University (SPPU), Pune through its research Project Ref No. OSD/BCUD/113/10.

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Shiralkar, A., Kurode, S., Gore, R. et al. Robust output feedback control of electro-hydraulic system. Int. J. Dynam. Control 7, 295–307 (2019). https://doi.org/10.1007/s40435-018-0447-6

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  • DOI: https://doi.org/10.1007/s40435-018-0447-6

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