Hydraulic cylinders are divided into single-rod asymmetric cylinders and double-rod symmetric cylinders. The single-rod asymmetric cylinder has the advantages of small size and simple structure,but its speed character...Hydraulic cylinders are divided into single-rod asymmetric cylinders and double-rod symmetric cylinders. The single-rod asymmetric cylinder has the advantages of small size and simple structure,but its speed characteristic is not symmetric. The double rod symmetric cylinder has the characteristic of symmetric speed,but it cannot be used in some special occasions. In this paper,one special hydraulic cylinder,a single-rod symmetric cylinder,is developed. Firstly,characters of this type of cylinder are introduced. Then,the system model is constructed by using one software which is Simulation X. Moreover,one single rod asymmetric cylinder is designed and the test rig using the symmetric valve to control single-rod symmetric or asymmetric cylinder is constructed. Both of the simulation and experimental results show that the symmetric valve control single-rod symmetric cylinder servo system is of symmetric speed characteristic,which can be used in practical occasion.展开更多
A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and param...A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.展开更多
基金Supported by the National Natural Science Foundation of China(No.51505289)
文摘Hydraulic cylinders are divided into single-rod asymmetric cylinders and double-rod symmetric cylinders. The single-rod asymmetric cylinder has the advantages of small size and simple structure,but its speed characteristic is not symmetric. The double rod symmetric cylinder has the characteristic of symmetric speed,but it cannot be used in some special occasions. In this paper,one special hydraulic cylinder,a single-rod symmetric cylinder,is developed. Firstly,characters of this type of cylinder are introduced. Then,the system model is constructed by using one software which is Simulation X. Moreover,one single rod asymmetric cylinder is designed and the test rig using the symmetric valve to control single-rod symmetric or asymmetric cylinder is constructed. Both of the simulation and experimental results show that the symmetric valve control single-rod symmetric cylinder servo system is of symmetric speed characteristic,which can be used in practical occasion.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2012AA041801)supproted by the High-tech Research and Development Program of China
文摘A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.
