Session: Controls 1

Paper Number: 111998

111998 - Adaptive Sliding Mode Control Based on the Immersion and Invariance Principle for the Accurate Spool Control of Proportional Servo Valve 

Due to the wide working range of the proportional servo valve, the flow force changes greatly with the valve port pressure, which significantly affects the precise control of the valve spool position of the proportional servo valve. An adaptive sliding mode controller (ASMC) based on the immersion and invariance principle (I&I) is designed in this paper to solve this problem. The load pressure is adaptive to the pressureless proportional servo valve, and then the adaptive sliding mode controller is used to achieve high-precision control. Firstly, the dynamic model of proportional servo valve system under unknown large flow force disturbance is established, and the sliding mode control strategy based on reaching law is designed and applied. Secondly, in the design of disturbance estimation error manifold, I&I principle is applied to ensure that both system errors and the estimation error of pressure converges to 0，for the sake of the accurate estimation of flow force and other disturbances. Finally, the stability analysis and digital simulation of the system are carried out. The results show that under the simulation conditions of 0-35 MPa, the estimation error of uncertain pressure by I&I method is less than 10% and the control accuracy of valve spool position is less than 0.1%.

Presenting Author: Zhi Qiu Zhejiang University

Presenting Author Biography: Zhi Qiu received his B.S. degree in machine design & manufacturing & mechatronics from Harbin Institute of Technology, China, in 2021.
He is currently working toward the Ph.D. degree in the College of Mechanical Engineering, Zhejiang University, Hangzhou, China.
His research interests focus on the precise control of proportional servo valve.