Original scientific paper

https://doi.org/10.17559/TV-20160930073953

Design of Lyapunov based nonlinear velocity control of electrohydraulic velocity servo systems

Edvard Detiček ; University of Maribor, Faculty of Mechanical Engineering, Smetanova 17, SI-2000 Maribor, Slovenia
Nenad Gubeljak orcid.org/0000-0002-3276-8431 ; University of Maribor, Faculty of Mechanical Engineering, Smetanova 17, SI-2000 Maribor, Slovenia
Mitja Kastrevc orcid.org/0000-0003-4600-750X ; University of Maribor, Faculty of Mechanical Engineering, Smetanova 17, SI-2000 Maribor, Slovenia

Abstract

Development of a hydraulically driven process of steel centrifugal die casting industry requires accurate response of position in time. In the frame of preliminary investigations the analysis and control of electrohydraulic velocity servo system is considered in the presence of flow nonlinearities and internal friction. The nonlinear and uncertainty characteristics make the conventional controller not yield to the system high requirements. Two different nonlinear design procedures are employed: feedback linearization and backstepping. It is shown that both these techniques can be successfully used to stabilize any chosen operating point of the system. Additionally, invaluable new insights are gained about the dynamics of the system under consideration. This illustrates that the true potential of constructive nonlinear design lies far beyond the mere task of achieving a desired control objective. All derived results are validated by computer simulation of the nonlinear mathematical model of the system.

Keywords

computer simulation; electro-hydraulic velocity servo system; integrator backstepping; Lyapunov methods; velocity control

Hrčak ID:

183033

URI

https://hrcak.srce.hr/183033

Publication date:

15.6.2017.

Article data in other languages: croatian

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