TY - GEN
T1 - Electro-hydraulic loading system based on back-stepping adaptive friction compensation
AU - Jia, Chen
AU - Zhaohui, Yuan
AU - Honghui, Wang
AU - Gong, Liu
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/17
Y1 - 2016/11/17
N2 - In order to improve the control accuracy and adaptive ability of electro-hydraulic loading system, a back-stepping adaptive friction compensation method based on LuGre-model is presented here. The dynamic model of electro-hydraulic loading system is established, and the friction characteristics based on LuGre model are described. For adapting to the change of frictional model parameters of the system, the controller of adaptive friction compensation is designed through back-stepping method, and the global asymptotic stability of the control system is proved by Lyapunov theorem. Based on experiment data, the original parameters of LuGre model is identified through priori genetic algorithm. The effectiveness of the method is verified by three groups of experiment. The results show that 60% of the control accuracy is improved by using the controller of adaptive friction compensation.
AB - In order to improve the control accuracy and adaptive ability of electro-hydraulic loading system, a back-stepping adaptive friction compensation method based on LuGre-model is presented here. The dynamic model of electro-hydraulic loading system is established, and the friction characteristics based on LuGre model are described. For adapting to the change of frictional model parameters of the system, the controller of adaptive friction compensation is designed through back-stepping method, and the global asymptotic stability of the control system is proved by Lyapunov theorem. Based on experiment data, the original parameters of LuGre model is identified through priori genetic algorithm. The effectiveness of the method is verified by three groups of experiment. The results show that 60% of the control accuracy is improved by using the controller of adaptive friction compensation.
KW - adaptive friction compensation controller
KW - back-stepping method
KW - electro-hydraulic loading system
KW - LuGre model
UR - https://www.scopus.com/pages/publications/85006816490
U2 - 10.1109/AUS.2016.7748076
DO - 10.1109/AUS.2016.7748076
M3 - 会议稿件
AN - SCOPUS:85006816490
T3 - AUS 2016 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems
SP - 367
EP - 372
BT - AUS 2016 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems, AUS 2016
Y2 - 10 October 2016 through 12 October 2016
ER -