Optimization-Driven Controller Design for a High-Performance Electro-Hydrostatic Asymmetric Actuator Operating in All Quadrants

2021 ◽  
Author(s):  
Kurram Butt ◽  
Gustavo Koury Costa ◽  
Nariman Sepehri
Keyword(s):  
High Performance ◽  
Position Control ◽  
Controller Design ◽  
Design Approach ◽  
Step Response ◽  
Minimum Jerk ◽  
Polynomial Curve ◽  
Accurate Position ◽  
In The Beginning ◽  
Input Response

Abstract This paper presents an optimization-driven controller design for smooth and accurate position control of a newly developed single-rod electro-hydrostatic actuator (EHA). The design approach uses logically guided iterative runs of the EHA to determine the optimal gain and poles' locations of a simple, yet effective low-bandwidth controller. The optimization algorithm used in the paper is the globalized bounded Nelder-Mead algorithm with deterministic restarts for improved globalization and lower numerical cost. The design also incorporates a pre-filter to ensure minimum jerk in the system's step input response in the beginning and while approaching steady-state. The step response of the filter is a 7th-degree polynomial curve that ensures the minimum change in acceleration. Experimental results reveal that the addition of the proposed pre-filter reduces jerk in the system by up to 90%. Results also indicate that the controller performs very well in all quadrants with external load uncertainty of up to 367 kg and thus proves the effectiveness of the design approach.

Position control of a dual-servo stage featuring an electrorheological fluid clutch and piezostack actuator

2004 ◽  
Vol 218 (12) ◽  
pp. 1435-1448 ◽  
Author(s):  
S-S Han ◽  
S-B Choi
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Electrorheological Fluid ◽  
Piezoceramic Actuator ◽  
Positioning Stage ◽  
Stage System ◽  
Accurate Position ◽  
Input Response ◽  
And Control ◽  
Friction Compensator

In this work, a novel type of dual-servo stage system is proposed in order to achieve accurate position control. A bidirectional electrorheological fluid clutch is adopted for a coarse-positioning stage, and a multi-stack piezoceramic actuator associated with a displacement amplifier for a fine-positioning stage. After deriving the dynamic model of the coarse-motion stage, a sliding-mode controller associated with a friction compensator is formulated to achieve robust position control performance. In addition, a model-based feedforward compensator incorporating a conventional proportional-integral-derivative controller is designed to compensate the hysteresis non-linearity of the fine-positioning stage. These controllers are experimentally realized in a decentralized strategy and control responses such as step input response are evaluated to verify the effectiveness of the proposed dual-servo positioning system.

Adaptive Robust Control of a Pump Control Hydraulic System

2017 ◽  
Author(s):  
Bobo Helian ◽  
Zheng Chen ◽  
Bin Yao ◽  
Yi Yan ◽  
Chiang Lee
Keyword(s):  
Robust Control ◽  
Hydraulic System ◽  
High Performance ◽  
Position Control ◽  
Controller Design ◽  
Volume Ratio ◽  
High Order ◽  
Adaptive Robust Control ◽  
Hydraulic Systems ◽  
Servo Motor

Pump control hydraulic systems have been widely used in industry by the advantages of no throttling loss and overflow loss as well as high power-to-volume ratio. However, the characteristics of high order dynamics, high nonlinearities and disturbances make the accurate position control of those systems very challenging. And to implement the controllers easily, some dynamics such as servo motor loop are usually ignored in most of existing methods, which may lead to the limitation of closed-loop bandwidth and disturbance rejection ability. In this paper, adaptive robust control (ARC) algorithm is utilized in a pump control electro-hydrualic system. The ARC guarantees the stability and high performance in the presence of model uncertainties and nonlinear disturbances. For the high-order of the hydraulic system, a modified three-step backstepping method is constructed which is covering the whole electro-hydraulic system. The servo motor-pump dynamics is taken into considered in the three-step adaptive backstepping controller design. Theoretical control performance based on Lyapunov functions and the simulation results proved that the control strategy this paper proposed achieved high performance in spite of the nonlinearities and uncertainties.

Accurate Position Control for Hydraulic Servomechanisms

2019 ◽  
Author(s):  
Manuel Pencelli ◽  
Renzo Villa ◽  
Alfredo Argiolas ◽  
Gianni Ferretti ◽  
Marta Niccolini ◽  
...  
Keyword(s):  
Position Control ◽  
Accurate Position

scholarly journals Correction to: Accurate position control of shape memory alloy actuation using displacement feedback and self-sensing system

2021 ◽  
Author(s):  
Ermira Junita Abdullah ◽  
Josu Soriano ◽  
Iñaki Fernández de Bastida Garrido ◽  
Dayang Laila Abdul Majid
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
Sensing System ◽  
Accurate Position

FPGA-Based Intelligent Software Hardening Chip for Computer Numerical Control System

2011 ◽  
Vol 105-107 ◽  
pp. 2217-2220
Author(s):  
Mu Lan Wang ◽  
Jian Min Zuo ◽  
Kun Liu ◽  
Xing Hua Zhu
Keyword(s):  
High Speed ◽  
High Performance ◽  
Large Scale ◽  
Position Control ◽  
Computer Numerical Control ◽  
Numerical Control ◽  
Cnc Machine Tools ◽  
Cnc Machine ◽  
Cnc System ◽  
Intelligent Software

In order to meet the development demands for high-speed and high-precision of Computer Numerical Control (CNC) machine tools, the equipped CNC systems begin to employ the technical route of software hardening. Making full use of the advanced performance of Large Scale Integrated Circuits (LSIC), this paper puts forward using Field Programmable Gates Array (FPGA) for the functional modules of CNC system, which is called Intelligent Software Hardening Chip (ISHC). The CNC system architecture with high performance is constructed based on the open system thought and ISHCs. The corresponding programs can be designed with Very high speed integrate circuit Hardware Description Language (VHDL) and downloaded into the FPGA. These hardening modules, including the arithmetic module, contour interpolation module, position control module and so on, demonstrate that the proposed schemes are reasonable and feasibility.

scholarly journals Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Nenad Muškinja ◽  
Matej Rižnar
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Design Approach ◽  
Control Loop ◽  
Real Time Control ◽  
Laboratory Setup ◽  
Time Control ◽  
Beam System ◽  
Ball Velocity ◽  
Ball And Beam System

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

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