Mathematical modelling and backstepping adaptive sliding mode control for multi-stage hydraulic cylinder Online publication date: Tue, 23-Oct-2018
by Jiangtao Feng; Qinhe Gao; Wenliang Guan; Zhenxin He
International Journal of Modelling, Identification and Control (IJMIC), Vol. 30, No. 4, 2018
Abstract: Multi-stage hydraulic cylinder is widely used in large scale erecting devices. It can provide longer stroke from an initial package than single stage cylinder. It is divided into telescopic type and synchronous type. However, its structure is complicated. In order to get the characteristics of multi-stage hydraulic cylinder, motion model was established based on node chamber method. The LuGre friction model was improved considering the lubricant film. The contact force model was optimised using the equivalent damping model of the hysteresis factor. Simulations of erection process driven by telescopic and synchronous hydraulic cylinder were completed. Backstepping adaptive sliding mode controller was designed for multi-stage hydraulic cylinder. The proposed controller has a better performance compared to PID controller and ordinary sliding mode controller. The chattering has been reduced by using the saturation function instead of the sign function.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook