Title :
High precision electro-hydraulic self leveling platform system
Author :
Geranmehr, Behdad ; Vafaee, Kamran ; Sadeqi, Aliakbar
Author_Institution :
Sch. of Mech. Eng., Iran Univ. of Sci. & Technol., Tehran, Iran
Abstract :
This paper presents the design process and controlling method for a four-cylinder electro-hydraulic (EH) system. The main contribution of this system is regarding it as a mechatronic plant which includes controller, actuating mechanism, position sensor. In addition the integrated system must be controlled precisely. The control scheme used on this plant is a hybrid controller. It consists of a PID MIMO and a sliding mode controller. Moreover a fuzzy logic base algorithm is applied in order to sustain the synchronization. The performance and accuracy of the control strategy in the presence of parametric uncertainties is confirmed through simulations.
Keywords :
MIMO systems; electrohydraulic control equipment; fuzzy control; mechatronics; position control; synchronisation; three-term control; uncertain systems; variable structure systems; EH system; PID MIMO controller; actuating mechanism; control strategy; controlling method; design process; electro-hydraulic self leveling platform system; four-cylinder electro-hydraulic system; fuzzy logic base algorithm; hybrid controller; integrated system; mechatronic plant; parametric uncertainty; position sensor; sliding mode controller; synchronization; Actuators; Couplings; Equations; Legged locomotion; Mathematical model; Mechatronics; Synchronization; Electro-Hydraulic; SMC; leveling; synchronization;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICRoM.2014.6990772
