Sliding mode tracking control of a low-pressure water hydraulic cylinder under non-linear friction

2002 ◽  
Vol 216 (5) ◽  
pp. 383-392 ◽  
Author(s):  
S H Cho ◽  
M Linjama ◽  
H Sairiala ◽  
K T Koskinen ◽  
M Vilenius
Keyword(s):  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Hydraulic Cylinder ◽  
Low Pressure ◽  
Non Linear ◽  
Linear Friction ◽  
Pressure Water ◽  
Water Hydraulic ◽  
Mode Tracking

This paper deals with a robust motion control of a low-pressure water hydraulic cylinder under non-linear friction. In order to ensure good tracking performance as well as to guarantee robustness, the sliding mode tracking control is utilized in combination with a non-linear friction compensator. Application of the scheme to a low-pressure water hydraulic cylinder position control has led to a significant reduction in tracking error when compared with the perfect tracking control scheme.

Two-Way Solenoid Valves in Low-Pressure Water Hydraulics

2000 ◽  
Author(s):  
Matti O. Linjama ◽  
Jyrki O. Tammisto ◽  
Kari T. Koskinen ◽  
Matti J. Vilenius
Keyword(s):  
Pressure Range ◽  
Position Control ◽  
Hydraulic Cylinder ◽  
Low Pressure ◽  
Weak Point ◽  
Flow Capacity ◽  
Water Hydraulics ◽  
Pressure Water ◽  
Small Flow ◽  
Water Hydraulic

Abstract The paper tests experimentally the suitability of inexpensive directly operated two-way solenoid valves for water hydraulic applications in the pressure range from 10 to 40 bars. Seven valves are tested and tested matters include the steady-state and dynamic characteristics as well as durability. Results show small delays and the durability of about ten million openings. The weak point of the valves is a small flow capacity but otherwise the valves are well suited for low-pressure water hydraulic applications. This is demonstrated by using them in a simple on/off position control of a water hydraulic cylinder.

High-Speed On/Off Position Control of a Low-Pressure Water Hydraulic Cylinder Drive

2002 ◽  
Author(s):  
Matti Linjama ◽  
Harri Sairiala ◽  
Kari T. Koskinen ◽  
Matti Vilenius
Keyword(s):  
High Speed ◽  
Position Control ◽  
Hydraulic Cylinder ◽  
Low Pressure ◽  
Pressure Water ◽  
Water Hydraulic

Proportional Position Control of Low-Pressure Water Hydraulic Cylinder

2002 ◽  
Author(s):  
Harri Sairiala ◽  
Matti Linjama ◽  
Kari T. Koskinen ◽  
Matti Vilenius
Keyword(s):  
Position Control ◽  
Hydraulic Cylinder ◽  
Low Pressure ◽  
Pressure Water ◽  
Water Hydraulic

Adaptive sliding mode tracking control of hydraulic servosystems with unknown non-linear friction and modelling error

2000 ◽  
Vol 214 (4) ◽  
pp. 247-257 ◽  
Author(s):  
S H Cho ◽  
K A Edge
Keyword(s):  
Boundary Layer ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Scheme ◽  
Non Linear ◽  
Linear Friction ◽  
Frictional Forces ◽  
Mode Tracking ◽  
Modelling Error

This paper deals with the use of adaptive discrete-time sliding mode tracking control in order to assure good tracking performance as well as to guarantee robustness against non-linear frictional forces and modelling error. The control scheme ensures that the absolute value of the sliding function decreases when it is outside the sliding boundary layer and the steady state value of the sliding function is bounded by the sliding boundary layer. Application of the scheme to a hydraulic servosystem has shown that adaptively estimated frictional forces compare favourably with those obtained from direct measurement. A significant reduction in tracking error is achieved through the use of non-linear friction compensation.

Application of Robust Chattering-Reduction Sliding Mode Control Techniques for Position Control of a Vector-Controlled Induction Machine with Non-Linear Friction Dynamics

2005 ◽  
Vol 219 (8) ◽  
pp. 577-590
Author(s):  
K B Goh ◽  
M W Dunnigan ◽  
B W Williams
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Induction Machine ◽  
Control Algorithms ◽  
Mode Control ◽  
Non Linear ◽  
Linear Friction ◽  
Linear Induction Machine ◽  
Friction Dynamics

Sliding mode control (SMC) methods possess several advantageous properties such as robustness against parameter variation, disturbance rejection, straightforward design, and are simple to implement. In this paper, a sliding mode control algorithm (which considers the non-linear friction dynamics) based on an equivalent control technique is designed and implemented on a non-linear induction machine system with non-linear friction dynamics such as Coulomb, windage, Stribeck, and static friction. The chattering phenomenon, which is inherent in the standard sliding mode algorithm, is discussed, as well as the techniques to reduce the chattering effect. A sixth-order non-linear induction machine model is employed for simulation analysis. The developed control algorithms are then tested for position control of a practical vector-controlled induction machine, in three different operating conditions (nominal load, high inertial load, and rotor resistance mismatch). The controller performance results are compared practically with several different sliding mode control algorithms as well as with a fixed-gain controller test.

scholarly journals PROPORTIONAL VELOCITY CONTROL OF LOW-PRESSURE WATER HYDRAULIC CYLINDER DRIVE

2002 ◽  
Vol 2002 (5-1) ◽  
pp. 181-186
Author(s):  
Harri Sairiala ◽  
Matti Linjama ◽  
Kari T. Koskinen ◽  
Matti Vilenius
Keyword(s):  
Hydraulic Cylinder ◽  
Low Pressure ◽  
Velocity Control ◽  
Pressure Water ◽  
Water Hydraulic
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