Nonlinear Control Study and Apply of a Single Hydraulic Cylinder's Test Stand

Based on the rigid dynamics as well as applied nonlinear theory, an adaptive nonlinear controller of a single hydraulic cylinder's test stand is developed and realized, which compensate in real time for nonlinear force produced by joints when mechanism rapidly moving in high speed. First, model of kinematics and dynamics of the test stand are built, meanwhile nonlinear Controller is designed by using Lyapunov's theory. Second, the computer simulation of the mechanical structure of the test stand, PD control and the adaptive nonlinear control is completed using MATLAB/SimMechanics and Simulink software package. Third, Windows 2000 with Ardence's Real-Time extension for Windows has been chosen as the operating system for real time simulation purposes, the adaptive nonlinear control of the test stand in real time is implemented by the rapid control prototyping technology.