High precision electro-hydraulic self leveling platform system

Author

Geranmehr, Behdad ; Vafaee, Kamran ; Sadeqi, Aliakbar

Author_Institution

Sch. of Mech. Eng., Iran Univ. of Sci. & Technol., Tehran, Iran

fYear

2014

fDate

15-17 Oct. 2014

Abstract

This paper presents the design process and controlling method for a four-cylinder electro-hydraulic (EH) system. The main contribution of this system is regarding it as a mechatronic plant which includes controller, actuating mechanism, position sensor. In addition the integrated system must be controlled precisely. The control scheme used on this plant is a hybrid controller. It consists of a PID MIMO and a sliding mode controller. Moreover a fuzzy logic base algorithm is applied in order to sustain the synchronization. The performance and accuracy of the control strategy in the presence of parametric uncertainties is confirmed through simulations.

Keywords

MIMO systems; electrohydraulic control equipment; fuzzy control; mechatronics; position control; synchronisation; three-term control; uncertain systems; variable structure systems; EH system; PID MIMO controller; actuating mechanism; control strategy; controlling method; design process; electro-hydraulic self leveling platform system; four-cylinder electro-hydraulic system; fuzzy logic base algorithm; hybrid controller; integrated system; mechatronic plant; parametric uncertainty; position sensor; sliding mode controller; synchronization; Actuators; Couplings; Equations; Legged locomotion; Mathematical model; Mechatronics; Synchronization; Electro-Hydraulic; SMC; leveling; synchronization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICRoM.2014.6990772

Filename

6990772