Tehnički vjesnik, Vol. 24 No. 3, 2017.
Izvorni znanstveni članak
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
Sažetak
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.
Ključne riječi
computer simulation; electro-hydraulic velocity servo system; integrator backstepping; Lyapunov methods; velocity control
Hrčak ID:
183033
URI
Datum izdavanja:
15.6.2017.
Posjeta: 1.779 *