Tracking control of electro-hydraulic servo multi-closed-chain mechanisms with the use of an approximate nonlinear internal model

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• 作者：Wen-hua Ding^a ; ^b ; Hua Deng^a ; ^b ; ^{hdeng@csu.edu.cn} ; Yi-min Xia^a ; ^b ; Xiao-gang Duan^a ; ^b
• 关键词：Nonlinear internal model control ; Nonaffine nonlinear discrete-time systems ; Motion control ; Electro-hydraulic system ; Forging manipulators
• 刊名：Control Engineering Practice
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：58
• 期：Complete
• 页码：225-241
• 全文大小：1862 K
• 卷排序：58

文摘

A nonaffine nonlinear model for hydraulic multi-closed-chain mechanisms is built. An approximate nonlinear internal model control and a feedback control are combined. A cascade control for hydraulic servo multi-closed-chain mechanisms is proposed. Position and velocity tracking can be achieved by utilizing the proposed method. Simulations and experiments show the feasibility of the proposed control method.