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http://dx.doi.org/10.7839/ksfc.2021.18.4.052

Velocity Control of an Electro-hydraulic Servo System with Integral Variable Structure Controller  

Huh, J.Y. (School of Mechatronic Engineering, Korea University of Technology and Education)
Publication Information
Journal of Drive and Control / v.18, no.4, 2021 , pp. 52-58 More about this Journal
Abstract
The variable structure controller is designed such that in sliding mode, the system moves along the switching plane in the vicinity of the switching plane, thus it is robust because it is not affected by the parameter fluctuations of the plant. However, a controller based on a variable structure may not meet the desired performance when it is commanded to track any input or is exposed to disturbances. This study proposes a sliding mode controller that follows the IVSC (Integral Variable Structure Control) approach with ELO (Extended Luenberger observer) to solve this problem. The proposed sliding mode control is applied to the velocity control of the hydraulic motor. The sliding plane was determined by the pole placement, and the control input was designed to ensure the existence of the sliding mode. The feasibility of modeling and controller are reviewed by comparing with conventional proportional-integral control through computer simulation using MATLAB software and experimenting on the cases of significant plant parameter fluctuations and disturbances.
Keywords
Electro-hydraulic Servo System; Velocity Control; Integral Variable Structure Control; State Observer; Disturbance;
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