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Volume 50 Issue 8
Aug.  2024
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Journal of Beijing University of Aeronautics and Astronautics  > 2024  >  50(8): 2439-2448.
WANG H B，HE H，ZOU H J，et al. Nonlinear backstepping control of special EHA for rail grinding vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（8）：2439-2448 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0681
Citation: WANG H B，HE H，ZOU H J，et al. Nonlinear backstepping control of special EHA for rail grinding vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（8）：2439-2448 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0681
shu

Nonlinear backstepping control of special EHA for rail grinding vehicles

doi: 10.13700/j.bh.1001-5965.2022.0681
  • 1.

    School of Mechanical Engineering，Southwest Jiaotong University，Chengdu 610031，China

  • 2.

    Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province，Chengdu 610031，China

  • 3.

    State Key Laboratory of Fluid Power Transmission and Control，Zhejiang University，Hangzhou 310027，China

Funds:  Science and Technology Department's Planned Application Basic Research Project of Sichuan Porvince(2021YJ0029); Open Research Project of Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of South West Jiaotong University (2020YW001)
More Information
  • Corresponding author: E-mail：haibowang@home.swjtu.edu.cn
  • Received Date: 01 Aug 2022
  • Accepted Date: 30 Oct 2022
    • Available Online: 21 Nov 2022
  • Publish Date: 15 Nov 2022
    Abstract

  • In order to improve the smoothness and stability of rail grinding by the rail grinding vehicle, an electric hydrostatic actuator (EHA) was proposed to replace the traditional hydraulic system as the special actuator of the rail grinding vehicle. By considering the nonlinear factors including the total efficiency fluctuation of the plunger pump and the large difference between the dynamic and static friction of the hydraulic cylinder, a nonlinear mathematical model was established. The MATLAB and AMESim joint simulation model of EHA was established, and the control strategies of PID control, sliding mode variable structure control, and backstepping control were compared. The simulation analysis verified that the backstepping control had good performance in response speed and stability. The four quadrant platform was built to carry out the backstepping control load test of EHA. The results show that its displacement control accuracy reaches 0.21 mm, indicating good control performance.

     

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