Transactions of Materials and Heat Treatment

Title：Adaptive sliding mode fault-tolerant control of actuator for heavy-duty hydraulic press

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ClassificationCode：TP23

year,vol(issue):pagenumber：2020,45(4):140-146

Abstract：

To improve fault-tolerant control ability and control accuracy of heavy-duty hydraulic press under the condition of actuator fault, the adaptive sliding mode fault-tolerant controller was designed. Kinetic model of sliding block and pressure dynamic equation of hydraulic cylinder for five-cylinder hydraulic press were built. The virtual control laws of three sub-systems were designed by integral sliding mode control. The pseudo inverse method was used to realize control allocation. Under the condition of actuator fault, adaptive compensate strategy was proposed on the basis of integral sliding mode control, so that the executable virtual control law under the condition of actuator fault was given. The virtual control law was transferred to servo-valve control law by decentralized sliding mode control, and the adaptive sliding mode fault-tolerant controller was proved to possess Lyapunov stability. It was clarified by simulation, under the condition of single actuator fault or multi-actuator fault, the adaptive sliding mode fault-tolerant controller can control the levelling error within 2×10-4 rad, and the maximum displacement tracking error is 0.0111 m, which reflect high leveling and tacking accuracy under the condition of actuator fault. Besides, it reflects good robustness of adaptive sliding mode fault-tolerant controller.

Funds：

吉林省教育厅“十三五”科学技术研究项目(JJKH 20170338KJ)

徐济宣（1965-），男，学士，副教授 E-mail：3431003395@qq.com

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