Adaptive backstepping sliding mode control for electro hydraulic proportional propulsion system
ZHOU Feng, GU Lin yi, LUO Gao sheng, CHEN Zong heng
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China;
2. Guangzhou Marine Geological Survey, Guangzhou 510760, China
A adaptive backstepping sliding mode control method was proposed based on the fact that underwater hydraulic propulsion system controlled by electrohydraulic proportional valves has the control characteristics of strong nonlinearity of the hydraulic system, unknown hydrodynamic parameter, parametric uncertainties susceptible to temperature and pressure changes of the external environment. The controller combined with experimental identification method and the robust adaptive controller design method to analyse complex electrohydraulic system and estimate unknown parameters. The globally asymptotic stability and boundedness of the controll system was guaranteed by using Lyapunov stability theory. Using the hydraulic propulsion system for the 4 500 m Deepsea Working System as the research subject, a comparative study was conducted using the control method presented in this paper and PID controller. Both the simulation results and the test results indicate that the proposed controller with strong robustness can track the desired reference trajectory of thruster speed with satisfied dynamic performance and steady accuracy. The modified parameter adaptive laws can also guarantee the boundedness of the estimated parameters.
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