Input nonlinearity compensation and chattering reduction in a mobile hydraulic forestry crane

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• 作者：Carlos Vázquez ; Stanislav Aranovskiy…
• 关键词：mobile hydraulics ; sliding mode design ; chattering attenuation
• 刊名：e & i Elektrotechnik und Informationstechnik
• 出版年：2016
• 出版时间：September 2016
• 年：2016
• 卷：133
• 期：6
• 页码：248-252
• 全文大小：1,141 KB
• 刊物类别：Engineering
• 刊物主题：Electronic and Computer Engineering
  Computer Hardware
  Software Engineering, Programming and Operating Systems
  
• 出版者：Springer Wien
• ISSN：1613-7620
• 卷排序：133

文摘

We present a sliding-mode-based control design for a telescopic link of a mobile-hydraulic forestry crane under bounded modeling uncertainties and external disturbances. Mobile hydraulic systems are typically subject to strong perturbation conditions and the design of resilient control solutions is an important challenge. Furthermore, nonlinear phenomena primarily, characterized by easily excited oscillations, an input nonlinearity, and friction, are dominating the dynamics. The proposed control scheme takes advantage of an input-nonlinearity compensation in order to overcome these problems and includes the formulation of a sliding-mode-control-based design. Two strategies for chattering attenuation are examined aimed at improving the controller performance. Experimental results performed over an industrial setup, including a comparison with a PID controller, confirm the efficacy of the proposed methodology.