A master thesis from Aalborg University
Realizing Third Order Sliding Mode Control for a Hydraulic Multibody Servo System
Author(s)
Term
4. term
Education
Publication year
2013
Submitted on
2013-06-11
Pages
171 pages
Abstract
The objective of this thesis is to investigate the control performance of a Third Order Sliding Control Algorithm in comparison to an advanced industry-like linear controller for a hydralic servo application. A CASE 580 backhoe loader is utilized as test case, where an assymtric unmatched valve-cylinder configuration along with coupled dynamics of the multibody backhoe configuration give rise to highly non-linear system characteristics. To accomplish a proper designed linear reference controller, a non-linear model of the mechanics, hydralics and power unit is put forth. The model also provide basis for simulation of controller performance. The controllers are evaluated by emulating industry-like work conditions. It is found, that the linear reference controller performes slightly better in terms of tracking performance. Suggestions of methods of how to increase the performance of the 3SMC are stated in the end of the thesis.
Documents
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