Fault Estimation and Fault-Tolerant Control for the Pump-Controlled Electrohydraulic System

Actuators

Hoai-An Trinh¹  Hoai Vu Anh Truong¹  Kyoung Kwan Ahn¹ 

[1] School of Mechanical and Automotive Engineering, University of Ulsan, Daehakro 93, Nam-gu, Ulsan 44610, Korea;

关键词: pump-controlled electrohydraulic system;    internal leakage;    external loading force;    fault estimation;    fault-tolerant control;   

DOI  :  10.3390/act9040132

来源: DOAJ

【 摘 要 】

This paper proposes a fault estimation and fault-tolerant control strategy with two observers for a pump-controlled electro-hydraulic system (PCEHS) under the presence of internal leakage faults and an external loading force. The mathematical model of the PCEHS is dedicatedly derived in the state-space form for developing control methodology. Two different observers are developed in which an extended state observer is applied to estimate the internal leakage flow rate, and a disturbance observer is used to deal with the external loading force. Then, the proposed control is designed based on the backstepping sliding mode technique in which estimated information from the observers is taken into consideration to guarantee the working performance of the system. With the proposed methodology, the robustness and stability of the controlled system are theoretically analyzed and proven by the Lyapunov theorem. Comparative simulation results are given to demonstrate the effectiveness of the proposed methodology through different testing conditions.

【 授权许可】

Unknown