南京航空航天大学学报（英文版）2021，Vol.38Issue(z1)：49-56,8.
旋转电液伺服系统的延迟补偿观察器与滑模控制器
Delay Compensation Observer with Sliding Mode Controller for Rotary Electro?hydraulic Servo System
ZAKARYA Omar 1KHALID Hussein 2王兴松 1ORELAJA Olusyi Adwale1
作者信息
- 1. 东南大学机械工程学院,南京 211189,中国
- 2. 萨那大学工程学院,萨那,也门
- 折叠
摘要
Abstract
The hip's lower limb exoskeleton essential and most important function is to support human's payload as well as to enhance and assist human's motion. It utilizes an electro-hydraulic servo manipulator which is required to achieve precise trajectory tracking and positioning operations. Nevertheless,these tasks require precise and robust control,which is very difficult to attain due to the inherent nonlinear dynamic behavior of the electro-hydraulic system caused by flow-pressure characteristics and fluid volume control variations of the servo valve. The sliding mode controller(SMC)is a widely used nonlinear robust controller,yet uncertainties and delay in the output degrade the closed-loop system performance and cause system instability. This work proposes a robust controller scheme that counts for the output delay and the inherent parameter uncertainties. Namely,a sliding mode controller enhanced by time-delay compensating observer for a typical electro-hydraulic servo system is adapted. SMC is utilized for its robustness against servo system parameters'uncertainty whereas a time-delay observer estimates the variable states of the controller(velocity and acceleration). The main contribution of this paper is improving on the closed loop performance of the electro hydraulic servo system and mitigating the delay time effects. Simulation results prove the robustness of this controller,which forces the position to track the desired path regardless of the changes of the amount of transport delay of the system's states. The performance of the proposed controller is validated by repeating the simulation analysis while varying the amount of delay time.关键词
滑模控制器/旋转电液伺服系统/延迟补偿观察器/传输延迟Key words
sliding mode controller/rotary electro-hydraulic servo system/delay compensating observer/transport delay分类
机械制造引用本文复制引用
ZAKARYA Omar,KHALID Hussein,王兴松,ORELAJA Olusyi Adwale..旋转电液伺服系统的延迟补偿观察器与滑模控制器[J].南京航空航天大学学报（英文版）,2021,38(z1):49-56,8.
