1551 KB28 KB199920252016Detiček, EdvardKastrevc, Mitjaletnik:62številka:nr. 3str. 163-170ISSN:0039-2480COBISSID_HOST:14548507URN:URN:NBN:SI:doc-JHSYMXYLenZveza strojnih inženirjev in tehnikov Slovenije etc.Strojniški vestnikelektro-hidravlični servo sistemiLyapunova metoda stabilnostinelinearne regulacijepozicijska regulacijaračunalniške simulacijeDesign of Lyapunov based nonlinear position control of electrohydraulic servo systems|This paper studies the nonlinear closed loop control of an electrohydraulic servo system. The control strategy is developed based on Lyapunov theory of nonlinear systems using integrator backstepping approach. Highly nonlinear nature of electrohydraulic servo system is well known. Main reasons for nonlinear and non-differentiable mathematical description of systems dynamics are the fluid compressibility, leakage flows, friction forces and nonlinear fluid flow through servo valve orifices. These nonlinear terms influence also the dynamic errors of the control system. Two different nonlinear design procedures are employed feedback linearization and integrator backstepping. Backstepping is used here because it is a powerful and robust nonlinear strategy. These techniques are used for construction of nonlinear control algorithm. The effectiveness of it, to stabilize any operating point of the system is proved by computer simulation. The systems error dynamics significantly depends on tuning parameters of the controller. The wrong selection of these parameters may lead to saturation or chattering of control signals. All derived results are validated by computer simulation of a nonlinear mathematical model of the system. The results are also compared to these obtained with a conventional P controller to prove that classic linear controllers fail to achieve a good tracking of the desired output, especially, when the hydraulic actuator operates at the maximum load. The research studies represented in the paper shows big potential of Lyapunov based nonlinear controller design procedures, to obtain desired control objectivesElektro-hidravlični servo-sistemi zavzemajo pomembno mesto na področju sodobne strojegradnje. Področja uporabe so proizvodne montažne linije, roboti, letalstvo, naprave za preskušanje materialov in konstrukcij itd. Na omenjenih področjih je še posebej izražena zahteva po natančnem vodenju pomika batnice hidravličnega valja. Slednje zagotovimo z natančno izdelavo hidravličnega valja, ob primerni izbiri tesnil na batu. Pomembna je tudi uporaba visoko dinamičnih servo- ventilov in kvalitetnih merilnikov pomikaTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo