Sliding mode control in position control for asymmetrical hydraulic cylinder with chambers connected |
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| Authors: | LEI Jun-bo WANG Xuan-yin PI Yang-jun |
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| Institution: | 1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China;College of Engineering, Jiangxi Agricultural University, Nanchang 330045, China
2. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China |
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| Abstract: | In this paper, single, two-position, two-way proportional valve is used to carry out the positon control of asymmetrical hydraulic cylinder with two chambers connected. The system structure and the working princle are introduced. The dynamic model of the asymmetrical hydraulic cylinder system is established with power bond graphs method, and becomes a fundament for analyzing the system. Sliding mode controller is designed, and the stability of the control system is analyzed. The simulation results indicate that the sliding mode controller designed can actualize the position control of asymmetrical hydraulic cylinder system, and controller is superior to traditional PID controller when the load changes in some range. |
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| Keywords: | sliding mode control asymmetrical hydraulic cylinder position control bond graph |
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