Backstepping Adaptive Controller of Electro-Hydraulic Servo System of Continuous Rotary Motor

Xiao-Jing Wang¹, Chang-Fu Xian¹, Cao-Lei Wan¹, Jin-Bao Zhao², Li-Wei Xiu ¹, An-Cai Yu³

(1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150001, China; 2. School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;3. Tianjin Research Institute of Construction Machinery, Tianjin 300409, China)



Abstract:

In order to consider the influence of the continuous rotary motor electro-hydraulic servo system parameters change on its performance, the design method of backstepping adaptive controller is put forward. The mathematical model of electro-hydraulic servo system of continuous rotary motor is established, and the whole system is decomposed into several lower order subsystems, and the virtual control signal is designed for each subsystem from the final subsystem with motor angular displacement to the subsystem with system control input voltage. Based on Lyapunov method and the backstepping theory, an adaptive backstepping controller is designed with the changed parameters adaptive law. It is proved that the system reaches the global asymptotic stability, and the system tracking error asymptotically tends to zero. The simulation results show that the backstepping adaptive controller based on the adaptive law of the changed parameters can improve the performance of continuous rotary motor, and the proposed control strategy is feasible.

Key words:  continuous rotary motor  low speed performance  backstepping adaptive control

DOI：10.11916/j.issn.1005-9113.2014.03.016

Clc Number:TH137.5

Fund: