Research on Control Strategy of Electro-Hydraulic Lifting System Based on AMESim and MATLAB

Abstract

Given the influence of flow instability, parameter uncertainty, and unpredictable disturbances in electro-hydraulic lifting systems, high-precision position control for electro-hydraulic lifting systems is challenging to achieve. This study proposes an observer–sliding mode control strategy to improve the control accuracy of the tractor electro-hydraulic lifting system. Firstly, the principle of the electro-hydraulic hoisting system is analyzed. Secondly, a mathematical model of the electro-hydraulic hoisting system is established, and the electro-hydraulic hoisting system is reduced to design an observer to achieve a real-time evaluation of the unknown system state and disturbance. The observer and the sliding mode control are then integrated into a controller to improve system response. Theoretical analysis demonstrates that the controller ensures that the actuator can achieve the desired control effect even under disturbing effects. Finally, a joint AMESim–MATLAB simulation and conducting pilot studies are carried out to compare the observer–sliding mode control with PID (Proportion–Integral–Derivative) control and sliding mode control. At the same time, in the process of the simulation and test, the symmetric structure as the electro-hydraulic lifting system was used to build a ploughing depth simulation system (changes in the hydraulic cylinder thrust simulate changes in ploughing depth values). The results show that the proposed observer–sliding mode control strategy can achieve a better position and pressure tracking and parameter change robustness than PID control and sliding mode control.

Keywords

• electro-hydraulic lifting system
• control strategy
• observer–sliding mode control
• co-simulation