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《Journal of Zhejiang University(Engineering Science)》 2018-05
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Adaptive robust motion control of composite material hydraulic press

WEI Jian-hua;SUN Chun-geng;FANG Jin-hui;WANG Gang;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University;  
A discontinuous projection-based nonlinear adaptive robust motion controller was constructed in order to deal with the parametric uncertainties,uncertain nonlinearity and external disturbance existed in the electro-hydraulic system of a composite material hydraulic press.The adaptive controller estimated system parameters online.Although the estimated parameters cannot completely converge to their true values,they can be kept within the upper and lower bounds,which meets the requirements of robust control.The model compensation error caused by the parametric uncertainties can be gradually eliminated by the adaptive law.The guaranteed transient and steady state response performance of output tracking was achieved.The effects of unmodeled dynamics,parameter estimation errors,and external disturbances were suppressed by the robust control law.The stability of the electro-hydraulic control system was proved based on the Lyapunov theory.Both simulation and experimental results show that the proposed controller provides a high-accuracy tracking and robust performance for the desired trajectory.
【Fund】: 国家“863”高技术研究发展计划资助项目(2012AA041804);; 中国科技部国家科技支撑计划资助项目(2015BAF07B06)
【CateGory Index】: TB33;TP273
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