The application of fuzzy control strategy in electro-hydraulic servo system

2006 ◽  
Author(s):  
Junpeng Shao ◽  
Lihua Chen ◽  
Yajuan Ji ◽  
Zhibin Sun
Keyword(s):  
Fuzzy Control ◽  
Control Strategy ◽  
Servo System ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Fuzzy Control Strategy

scholarly journals Estimated Reaction Force-Based Bilateral Control between 3DOF Master and Hydraulic Slave Manipulators for Dismantlement

Electronics ◽  
2018 ◽  
Vol 7 (10) ◽  
pp. 256 ◽  
Author(s):  
Karam Kallu ◽  
Jie Wang ◽  
Saad Abbasi ◽  
Min Lee
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Reaction Force ◽  
Servo System ◽  
Degree Of Freedom ◽  
Bilateral Control ◽  
Impedance Model ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

This paper proposes a novel bilateral control design based on an estimated reaction force without a force sensor for a three-degree of freedom hydraulic servo system with master–slave manipulators. The proposed method is based upon sliding mode control with sliding perturbation observer (SMCSPO) using a bilateral control environment. The sliding perturbation observer (SPO) estimates the reaction force at the end effector and second link without using any sensors. The sliding mode control (SMC) is used as a bilateral controller for the robust position tracking and control of the slave device. A bilateral control strategy in a hydraulic servo system provides robust position and force tracking between master and slave. The difference between the reaction force of the slave produced by the effect of the remote environment and the operating force applied to the master by the operator is expressed in the target impedance model. The impedance model is applied to the master and allows the operator to feel the reaction force from the environment. This research experimentally verifies that the slave device can follow the trajectory of the master device using the proposed bilateral control strategy based on the estimated reaction force. This technique will be convenient for three or more degree of freedom (DOF) hydraulic servo systems used in dismantling nuclear power plants. It is worthy to mention that a camera is used for visual feedback on the safety of the environment and workspace.

scholarly journals Research on the position–pressure cooperative control strategy for full-hydraulic leveler

2018 ◽  
Vol 10 (12) ◽  
pp. 168781401881739
Author(s):  
Dongping He ◽  
Tao Wang ◽  
Jun Wang ◽  
Zhongkai Ren ◽  
Xiangyu Gao
Keyword(s):  
Control Strategy ◽  
Cooperative Control ◽  
High Speed ◽  
Servo System ◽  
Hydraulic Cylinder ◽  
Relief Valve ◽  
Working Pressure ◽  
Pressure Signal ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

The characteristics of electro-hydraulic servo system of full-hydraulic leveler are high speed, large inertia, high frequency response, and multi-degree of freedom. In order to improve the degree of automation of full-hydraulic leveler and achieve the simultaneous control between position and pressure, the position–pressure cooperative control strategy is presented in the article. In the working process, the dynamic working pressure signal of the hydraulic cylinder is turned into a real-time position signal by the pressure–position conversion gain and then compensates the converted signal into the position closed loop. Meanwhile, the pressure signal of the rear cavity of the hydraulic cylinder is fed back to the input of the proportional relief valve at the pump source, and then the system work pressure changes quickly according to the different thickness. In this article, the mathematical model of position–pressure cooperative control of hydraulic straightening machine is established. The simulation results in AMESim software verify the correctness of the control strategy. Finally, the feasibility and practicability of the control strategy are verified by the field prototype of 11-roller full-hydraulic leveler. The control strategy provides the theoretical basis for designing the electro-hydraulic servo system.

Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot

2010 ◽  
Vol 34-35 ◽  
pp. 825-830
Author(s):  
Qun Liang Dai ◽  
Hong Liang Dai ◽  
Xiao Hai Qu
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Strong Coupling ◽  
Intelligent Control ◽  
Control Strategy ◽  
Servo System ◽  
Servo Control ◽  
Cmac Neural Network ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

In this paper the electric-hydraulic servo system for excavating robot is analysed. The kinematic and the dynamic model of working equipment are established. Aim at the electric-hydraulic servo system of the feature with many variables, strong coupling and non-linear, the CMAC neural network was presented combined with popular PD algorithm, which could realize intelligent control for the working equipment of excavating robot. The result of simulation show that control strategy features higher precision and robustness.

Electro-Hydraulic Servo System Based on PID Control of Genetic Algorithm

2011 ◽  
Vol 317-319 ◽  
pp. 1267-1272
Author(s):  
Jian Chun Gong ◽  
Yong Chun Xie
Keyword(s):  
Genetic Algorithm ◽  
Control Strategy ◽  
Force Feedback ◽  
Servo System ◽  
Static Characteristic ◽  
System A ◽  
Hydraulic Servo ◽  
Reaction Forces ◽  
Hydraulic Servo System ◽  
Fuzzy Pd

In this paper, it mainly researches control arithmetic of electro-hydraulic servo system. In a tele-operated master-slave control system, a Fuzzy PD control strategy is adapted. In order to obtain real time track control to system and improve dynamic and static characteristic of system, three control parameters of PD are optimized by Genetic Algorithm (GA). Experimental results are shown that the sense of force is produced on the joy stick and the operator is able to feel sensitively the reaction forces. Secondly, the novel control strategy and optimization fuzzy PD arithmetic has good track precision and improves master-slave track characteristic of displacement and force feedback characteristic. At the same time, it has rather strong self-adaptability and anti-jamming capability.

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