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.

scholarly journals Simplified Adaptive Robust Motion Control with Varying Boundary Discontinuous Projection of Hydraulic Actuator

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Cungui Yu ◽  
Xianwei Qi
Keyword(s):  
Robust Control ◽  
Motion Control ◽  
High Performance ◽  
Simple Algorithm ◽  
Adaptive Robust Control ◽  
Hydraulic Systems ◽  
Hydraulic Actuator ◽  
Tracking Accuracy ◽  
Rotary Actuator ◽  
Robust Motion Control

This paper deals with the high performance adaptive robust motion control of electrohydraulic servo system driven by dual vane hydraulic rotary actuator. The recently developed adaptive robust control theory is used to handle the nonlinearities and modelling uncertainties in hydraulic systems. Aside from the difficulty of handling parametric variations, the traditional adaptive robust controller (ARC) is also a little complicated in practice. To address these challenging issues, a simplified adaptive robust control with varying boundary discontinuous projection is developed to enhance the robustness of the closed-loop system, based on the features of hydraulic rotary actuator. Compared with previous ARC controller, the resulting controller has a simple algorithm for more suitable implementation and can handle parametric variations via nonlinear robust design. The controller theoretically achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities. Extensive simulation results are obtained for a hydraulic rotary actuator to verify the high performance nature of proposed control strategy.

An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears

2018 ◽  
Vol 41 (10) ◽  
pp. 2789-2802 ◽  
Author(s):  
Soheil Ahangarian Abhari ◽  
Farzad Hashemzadeh ◽  
Mahdi Baradarannia ◽  
Hamed Kharrati
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Robot Manipulators ◽  
Dead Zone ◽  
Main Idea ◽  
Adaptive Robust Control ◽  
Zone Model ◽  
Robot Trajectory ◽  
Zone Parameter ◽  
The Stability

This paper presents an adaptive robust control algorithm for the nonlinear dynamics of robot manipulators with unknown backlash in gears. The basic nonlinear model of a serial manipulator robot is used for the controller design, and this is combined with the nonlinear proposed dead zone model, based on the input and output torque. The main idea of providing this model is to achieve a dynamic model of the system considering the backlash of the robot joint gears, and having less complexity such that the developed controller does not need the inverse backlash model. The adaptive robust controller is developed, without using the inverse backlash model. The proposed controller is designed based on an unknown dead zone parameter and it guarantees the stability and path tracking of the robot trajectory with unknown dead zone parameter in the desired range. Numerical simulations are conducted to show the effectiveness of the proposed controller. Finally, the efficiency and capability of the proposed controller in dealing with the unknown backlash nonlinearities in gears of the manipulator are demonstrated by experimental results with a five-bar manipulator.

Adaptive Neural Network in Compensation the Dynamics and Position Control of a Servo-Hydraulic System With a Flexible Load

2005 ◽  
Author(s):  
Hassan Yousefi ◽  
Heikki Handroos
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Hydraulic System ◽  
Position Control ◽  
Reference Model ◽  
Differential Evolution Algorithm ◽  
Nonlinear Behavior ◽  
System Stability ◽  
Hydraulic Systems ◽  
Highly Nonlinear

Asymmetrical servo-hydraulic systems are commonly used in industry. These kinds of systems are nonlinear in nature and generally difficult to control. Because of changing system parameters, using the same gain will cause overshoot or even loss of system stability. The highly nonlinear behavior of these devises makes them idea subjects for applying different types of sophisticated controllers. This paper is concerned with using two artificial neural networks in compensation the dynamics and position tracking of a second order model reference in a flexible servo-hydraulic system. In present study, a neural network as an acceleration feedforward and another one as a gain scheduling of a proportional controller are proposed. Differential evolution algorithm is used to find the weights and biases to avoid the local minima. The proposed controller was verified with a commonly used p-controller. The results suggest that if the neural networks choose and train well, they improve all performance evaluation criteria such as stability, fast response, and accurate reference model tracking in servo-hydraulic systems.

scholarly journals Nonlinear Adaptive Robust Control of the Electro-Hydraulic Servo System

2020 ◽  
Vol 10 (13) ◽  
pp. 4494 ◽  
Author(s):  
Lijun Feng ◽  
Hao Yan
Keyword(s):  
Robust Control ◽  
Position Control ◽  
External Disturbance ◽  
Servo System ◽  
Adaptive Robust Control ◽  
Superior Performance ◽  
Parametric Uncertainties ◽  
State Equations ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

This paper focuses on high performance adaptive robust position control of electro-hydraulic servo system. The main feature of the paper is the combination of adaptive robust algorithm with discrete disturbance estimation to cope with the parametric uncertainties, uncertain nonlinearities, and external disturbance in the hydraulic servo system. First of all, a mathematical model of the single-rod position control system is developed and a nonlinear adaptive robust controller is proposed using the backstepping design technique. Adaptive robust control is used to encompass the parametric uncertainties and uncertain nonlinearities. Subsequently, a discrete disturbance estimator is employed to compensate for the effect of strong external disturbance. Furthermore, a special Lyapunov function is formulated to handle unknown nonlinear parameters in the system state equations. Simulations are carried out, and the results validate the superior performance and robustness of the proposed method.

scholarly journals Modelling & Position Control for Electro-Hydraulic System

2019 ◽  
Vol 8 (4) ◽  
pp. 3841-3845 ◽  
Keyword(s):  
Control System ◽  
Hydraulic System ◽  
Position Control ◽  
Industrial Applications ◽  
Hydraulic Systems ◽  
System A ◽  
Complex Process ◽  
Highly Nonlinear ◽  
Back Stepping Control ◽  
And Control

Electro-hydraulic systems (EHS) are widely used in industrial applications due to the high-power density and accuracy. However, EHS are highly nonlinear which makes its modelling and control aspects a complex process. In this paper, we present the modelling and position control for an electro-hydraulic system (EHS). The mathematical modelling is carried out considering the non-linearities like friction, discharge coefficient and load mass present in the system. A back-stepping control scheme is developed for maintaining the accuracy in the position control. The closed-loop stability of the proposed control system is analyzed with Lyapunov’s theory. The performance of the control system under the effect of bounded external uncertainties is validated with simulation study. The study indicates that the proposed controller gives an effective motion control in presence of the system uncertainties.

Direct Position Control of Electro-Hydraulic Excavator

2018 ◽  
Author(s):  
Siavash Danaee ◽  
Jarmo Nurmi ◽  
Tatiana Minav ◽  
Jouni Mattila ◽  
Matti Pietola
Keyword(s):  
System Architecture ◽  
Hydraulic System ◽  
Position Control ◽  
Control Point ◽  
Point Of View ◽  
Test Case ◽  
Hydraulic Systems ◽  
Position Measurement ◽  
Physical Sensors ◽  
Accurate Position

Position measurement in the electro-hydraulic systems is feasible via the utilization of physical sensors. An improvement in technology has led to the manufacturing of high accurate position sensors for direct position control. This paper proposes utilization of direct position control in an electro-hydraulic system with a new hydraulic zonal system architecture implemented with Direct Driven Hydraulics. It was mentioned in early study that this hydraulic system architecture as a replacement for the traditional valve-based hydraulic systems, has higher energy efficiency rate. In this study, the simulation implementation and experimental verification of Direct Driven Hydraulics (DDH) will be investigated for a micro excavator test case from position control point of view. Results demonstrated that the implementation of DDH in an excavator case will lead to maximum 5 cm error in a single-cycle movement.

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