Research on Adaptive Back-stepping Control of Hydraulic Cylinder Friction Compensation in Electro-hydraulic Servo System

Abstract

The mathematical model for system analysis of the electro-hydraulic servo system considering the LuGre friction model was established in this paper. And in the process of modeling, the friction between the piston seal in servo cylinder and inner wall of the cylinder was considered, then influence on system from the friction among piston rod and seal ring and dust seal ring and the guide ring was considered as well. The whole system simulation analysis model contains the submodel of servo valve, servo cylinder with load. Then, the whole system model was simulated after the LuGre friction model dynamic and static parameters are identified. Aiming at the analysis of tracking accuracy and friction compensation of electro-hydraulic servo system, adaptive back-stepping regulating strategy was introduced. We can know from the work of simulation and experimental results, the friction compensation method and measure, as well as tracking accuracy problem of electro-hydraulic servo system have been effectively solved by proposing the adaptive back-stepping control strategy based on LuGre friction model, and then, we have get good regulating effect for electro-hydraulic servo system with dynamic and static response performance.