Nonlinear robust dual-loop control for electro-hydraulic load simulator

作者：Wang Chengwen^*; Jiao Zongxia; Quan Long

来源：ISA Transactions, 2015, 59: 280-289.

DOI：10.1016/j.isatra.2015.10.013

• Electro-hydraulic load simulator
• Dual-loop control
• Nonlinear feed-forward compensator
• Deterministic robust control
• Friction identification

This paper investigates on the high performance torque control of electro-hydraulic load simulator (EHLS). In order to suppress actuator's motion disturbance, a nonlinear robust dual-loop control scheme is developed, which consists of a open-loop nonlinear velocity feed-forward compensator and a closed-loop nonlinear deterministic robust torque controller. The main function of the open-loop compensator is to decouple actuator's active motion disturbance, whereas the torque loop controller aims at guaranteeing the dynamics performance of tracking torque reference. Besides actuator's motion disturbance, both the nonlinearity characteristics and friction problem of the EHLS system are taken into consideration in this paper. The effectiveness of the developed method are verified through comparative co-simulations and experiments.

• 出版日期2015-11
• 单位太原理工大学; 北京航空航天大学