Time-Varying Integral Adaptive Sliding Mode Control for the Large Erecting System

Table 1

Parameters of the erecting system.

Parameters	Symbols	Values	Units
Supply pressure		18	MPa
Discharge coefficient of the spool valve		0.62	—
Area gradient of the spool valve			m
Bulk modulus of the oil			Pa
Length of the piston rod		1.5935	m
Equivalent viscous damping coefficient		800	N/m/s
Mass density of the oil		868	Kg/m^3
Equivalent mass of the cylinder		178.31	Kg
Inwards leakage coefficient of the cylinder			m^3/s*Pa
Outwards leakage coefficient of the cylinder			m^3/s*Pa
Equivalent mass of the erecting arm		1155.98	Kg
Moment of inertia of the erecting arm		10023	Kg*m^2
Section area of piston side/rod side		0.0175/0.0133	m^2
Internal volume of the chamber			m^3
Length of		1.132/1.62/1.032/3.5	m
Angle of at 0s		0.6816/0.1047	rad