Adaptive Control of the Electro‐Hydraulic Servo‐System with External Disturbances

Abstract

The paper deals with the structure of the adaptive control electro-hydraulic servo-system (EHSS) with external load disturbances, practical verification of the identification, and control algorithms. The electro-hydraulic servo system composed of a servo-cylinder controlled with a servo-valve is discussed. It is a strongly nonlinear object with parameters changing over time. Adaptive adjuster parameters were determined by means of current identification resulting in the parametric model. Identification was conducted on the basis of measurement of the controlling size and regulated size objects. The identified model of the object was applied to carry out the on-line synthesis of the proportional-integral-derivative (PID) controller. The selected problems connected with obtaining the algorithm of adaptive control are presented. The computer program for implementing the algorithm with numerical simulation and identification of the control physical model object were calculated. The aim of the research was to examine the effectiveness of the adaptive control method in an electro-hydraulic servo system, both theoretically and experimentally.

Novel electro-hydraulic position control system for primary mirror supporting system

“…The NPCS test rig features (1) one supporting cylinder, (2) one converting cylinder, (3) one servo motor, (4) one accumulator, (5) digital-to-analog (D/A) PMAC DTB-28B board, (6) analog-to-digital (A/D) PMAC ACC-8B board, (7) signal converter and amplifier, (8) position and pressure transducers, (9) a real-time PMAC controller board, and (10) a personal computer Figure 5. NPCS test rig.…”

Prototype of the spatial translational parallel manipulator with integrated electro-hydraulic axes

“…Celem badań było stworzenie takiego systemu regulacji manipulatora, który będzie przeciwdziałał tym błędom. Opracowano algorytmy: sterowania konwencjonalnego z regulatorem PID [5], sterowania adaptacyjnego AC (adaptive control) [8,9] oraz sterowania ze sprzężeniem krzyżowym CCC (cross-coupled control) [10]. W konwencjonalnych układach sterowania błędy pozycjonowania korygowane są oddzielnie dla każ-dej osi elektrohydraulicznej.…”

Practical parallel position-force controller for electro-hydraulic servo drive using on-line identification

“…Designed in this way control system performs the task consisting in keeping up the driving system according to the set trajectory with the compensation force load from the technological resistance [7,9]. However, for set position of carriage the control system of force enables to adapt the driving system to identified load conditions.…”

“…From the ordinary system with feedback, the used adaptive system distinguishes information in the form of defined reference model [9]. Therefore, in order to select controller parameters for the control systems in constant way parameters of models are identified for the position and force.…”