Improved Position Tracking Performance of Electro Hydraulic Actuator Using PID and Sliding Mode Controller

Abstract

This paper focuses on the position control of low-velocity servo controlled electro hydraulic actuator system in order to increase the system productivity. To overcome the nonlinearities and uncertainties caused by friction and internal leakages, an efficient sliding mode control (SMC) is designed based on the selection of appropriate sliding surface and control law. The solution is a model-based position control and it is shown that the proposed design procedure is simple and efficient. The controller is designed with approximated first-order dynamics of the system. To express the performance of the proposed control scheme, the designed control strategy is compared with conventional proportional integral derivative (PID) control. The simulation and experimental comparisons between the PID and SMC demonstrate that SMC has smooth and stable response than PID in tracking performance and robustness.

KEYWORDS:

• Electro hydraulic system
• Low-velocity actuator
• PID control
• Sliding mode control
• Tracking

ACKNOWLEDGEMENTS

This research work was conducted in the Fluid Power Laboratory of Kongu Engineering College, Erode, India

Additional information

Funding

The research is supported by Research Promotion Scheme of All India Council for Technical Education (AICTE), New Delhi. [Reference Number: 8-174/RIFD/RPS/POLICY-1/2014-2015].

Notes on contributors

A. Tony Thomas

Tony Thomas A received his post graduate degree in mechatronics engineering from Anna University, Coimbatore, Tamil Nadu, India in 2009. He is working as assistant professor in mechatronics engineering at Kongu Engineering College since 2010. His research interests include electro hydraulic servo system, low cost automation, and composite materials. He has supervised 4 post graduate students. Corresponding author email: [email protected]

R. Parameshwaran

Parameshwaran R received his PhD degree in industrial engineering from Anna University, Chennai, Tamil Nadu, India in 2008. He is currently working as professor and head of Mechatronics Engineering at Kongu Engineering College, Erode, Tamil Nadu, India since 2010. He has 19 years of teaching and research experience. His research interests include mechatronics, robotics, motion control electro hydraulic servo system, product development. He has supervised 8 doctoral students. Email: [email protected]

S. Sathiyavathi

Sathiyavathi S received her doctorate from Anna University, Chennai, India. Currently, she is an associate professor in the Department of Mechatronics, Kongu Engineering College, Erode. She has 12 years of experience in teaching. Her research interests are in the areas of control systems and process control. Email: [email protected]

A. Vimala Starbino

Vimala Starbino A received a master's degree in control and instrumentation from Anna University, Chennai, India. Currently, she is a full-time scholar in the Department of Mechatronics, Kongu Engineering College, Erode. Her research interests are in the areas of control systems, process control and nonlinear systems. Email: [email protected]