Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter Front. Inform. Technol. Electron. Eng.    2016, 17 (1): 55-66.   DOI: 10.1631/FITEE.15a0160
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Fig. 4 Experimental test rig

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In this section, we describe the experiments carried out to verify the effectiveness of the proposed controller. The experimental installation is presented in Fig. 4 and the structure of the test rig in Fig. 5. In general, the experimental equipment contains mainly the cutting velocity control system (CVCS) and the load generating system (LGS). A variable displacement axial piston pump with an external pilot oil supply was driven by a three-phase asynchronous motor which rotates at a constant speed of 1450 r/min. The displacement control of the pump was accomplished by means of a pilot servo valve with electrical feedback of the swashplate angle. Through a swashplate angle feedback, the current signal to the pilot servo valve determines the swashplate angle via the control piston and thus the pump displacement. The other servo valve controlled loading motor was used to simulate a load acting on the cutting motor and generating pressure disturbance in the motor velocity control process. The pressures of the test system were measured by pressure sensors and the angular velocity of the hydraulic motors was obtained by differentiating the angular signal which was measured by the angle encoder. A compatible PC including a 16-bit multifunction data acquisition and control card was used to acquire the sensor signals and generate control signals to the variable displacement pump and the load generating servo valve. The cutting velocity controller and the load generating controller were both implemented in the MATLAB/xPC target environment and the sampling time was 1 ms.

Other Images/Table from this Article

• Fig. 1 Architecture of a trench...
• Fig. 2 Fuzzy sets and membership func...
• Table 1 Rule base for the fuzzy logic ...
• Fig. 3 Structure of the AFISMC for cu...
• Fig. 5 Structure of the test rig
• Table 2 AFISMC control parameters
• Fig. 6 Constant tracking with disturb...
• Fig. 7 Load torque acting on the cutt...
• Fig. 8 Swashplate angle of the pump i...
• Fig. 9 The transient inlet pressure o...
• Fig. 10 Constant tracking with disturb...
• Fig. 11 Constant tracking with disturb...
• Fig. 12 Constant tracking with disturb...
• Fig. 13 Sinusoidal tracking of the sys...
• Fig. 14 Sinusoidal tracking of the sys...
• Fig. 15 Sinusoidal tracking of the sys...
• Fig. 16 Sinusoidal tracking of the sys...