| Cheng Ningbo (程宁波),Wang Liping,Guan Liwen,Han Jian.[J].高技术通讯(英文),2013,19(3):221~227 |
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| Synchronization control for electro-hydraulic dual-cylinder system based on force/position switching |
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| DOI： |
| 中文关键词: |
| 英文关键词: synchronization control, hydraulic servo control, nonlinear control, force control, sliding mode contro |
| 基金项目: |
| Author Name | Affiliation | | Cheng Ningbo (程宁波) | | | Wang Liping | | | Guan Liwen | | | Han Jian | |
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| 中文摘要: |
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| 英文摘要: |
| If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom (DOF) of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme: the master-master+force/position switching control and the master-slave+force/position switching control. Simulations show that the proposed synchronization control methods can get a better performance compared with two given position-based control methods. |
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