Adaptive cascade control of a hydraulic actuator with an adaptive dead-zone compensation and optimization based on evolutionary algorithms

Coelho, Leandro dos Santos; Cunha, Mauro André Barbosa

doi:10.1016/j.eswa.2011.04.004

Cited by 40 publications

(29 citation statements)

References 29 publications

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“…Therefore, the inverse model compensation for deadzone model is not preferable in practical applications. An alternative is to establish a multimodel switching system [7], [10]- [12] which is composed of several subsystems and the controllers for them are designed respectively. Similarly, taking into account for the unknown parameters of the deadzone model, adaptive control [10], [11], optimal predictive control [12] and sliding mode control [7] have been adopted in existing literature to deal with the parameter uncertainties, which greatly complicates the control design of the systems with backlash nonlinearity in the middle place.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Control for Gear Transmission Servo Systems With Backlash Nonlinearity

Shi

Zuo

2015

IEEE Trans. Automat. Sci. Eng.

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The output tracking problem of gear transmission servo (GTS) systems with backlash nonlinearity is studied in this paper. A new concept-"soft degree"-is proposed to overcome the nondifferentiable "hard" characteristic of the backlash nonlinearity. Furthermore, a detailed softening process-static softening is presented, where a backstepping control algorithm is developed to guarantee that the output of the controlled systems can track any given desired sufficiently smooth trajectory by arbitrary precision and the limit cycles that appear due to backlash nonlinearity can be avoided. Simulation results validate the effectiveness of the proposed controller.Note to Practitioners-Backlash universally exists in gear transmissions where the moving parts temporarily lose direct contact, which is a major factor affecting the systems dynamic performance and steady precision. Existing approaches for eliminating backlash nonlinearity are mainly divided to two categories due to the nondifferentiable property of the traditional deadzone model: one is the inverse model compensation method, which is not preferable in practical applications for the existence of physical inertia; the other is a multimodel switching method that divides the controlled system into several subsystems and then designs controllers for each subsystem, which makes the control design problem very complex and difficult. Motivated by these, this paper proposes a "soft degree" concept based on a recently developed differentiable deadzone model, and then presents a practical backstepping algorithm to achieve not only high-precision output tracing but also limit cycles elimination.

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Section: Introductionmentioning

confidence: 99%

Backstepping Control for Gear Transmission Servo Systems With Backlash Nonlinearity

Shi

Zuo

2015

IEEE Trans. Automat. Sci. Eng.

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“…In the design considered subsequently, the method will be used to evaluate the peak errorˆ * and the peak controlˆ * for the input space ∞ , defined in (1). For simplicity in the presentation, the error and the control will be regarded as an output .…”

Section: Calculating a Peak Output For The Set ∞mentioning

confidence: 99%

“…Section II recaps the theory of majorants and Section III reviews the method for computing associated performance measures (called peak output) in connection with the possible set ∞ in (1). Section IV explains the model of the hydraulic actuator used in this work.…”

Section: Introductionmentioning

confidence: 99%

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Application of Zakian's majorants to robust controller design for hydraulic force control systems

Chuman

Arunsawatwong

2013

2013 10th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technolo

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The paper presents the design of a robust controller for a hydraulic force control system using Zakian's majorants, in which a two-degree-of-freedom configuration is used. The design objective is to ensure that the error and the control signals always stays within prescribed bounds in the presence of all inputs having bounded magnitude and bounded slope. The design problem is formulated so that all possible inputs are explicitly taken into account. Accordingly, the design objective is expressed as a set of inequalities that can be solved in practice. A numerical example with two parameter uncertainties is carried out.

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“…Xu et al proposed a multiobjective optimization model to evaluate and improve the safety brake performance [16]. Coelho et al presented an adaptive cascade controller using differential evolution optimization [17]. Ye et al developed an improved particle swarm optimization algorithm for a PID controller [18].…”

Section: Introductionmentioning

confidence: 99%

Model and Simulation Analysis of a High Speed Hydraulic System in a Fineblanking Press

Yi¹,

Feng²

2018

dtetr

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Abstract. As a key component of a hydraulic fineblanking press, a high speed hydraulic system is used to achieve the rapid movement of the slider in the noncutting stage, which is important for improving the processing efficiency. It is important to study the various properties of a high speed hydraulic system as the rapid movement affects the precision of the machine as well as the quality of the stamping parts. In this paper, a high speed hydraulic system model was established, and the static and dynamic characteristics of the key components in the system were simulated and analyzed. The system control logic was designed according to the blanking process, and the changes in the speed, displacement, pressure and flow of the high speed cylinder in the blanking process were analyzed. A strategy using PID feedback control of the system was proposed to improve the blanking precision and provide a reliable basis for the control system design.

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Adaptive cascade control of a hydraulic actuator with an adaptive dead-zone compensation and optimization based on evolutionary algorithms

Cited by 40 publications

References 29 publications

Backstepping Control for Gear Transmission Servo Systems With Backlash Nonlinearity

Backstepping Control for Gear Transmission Servo Systems With Backlash Nonlinearity

Application of Zakian's majorants to robust controller design for hydraulic force control systems

Model and Simulation Analysis of a High Speed Hydraulic System in a Fineblanking Press

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