Adaptive Robust Precision Motion Control of Systems With Unknown Input Dead-Zones: A Case Study With Comparative Experiments

Hu, Chuxiong; Yao, Bin; Wang, Qingfeng

doi:10.1109/tie.2010.2066535

Cited by 111 publications

(51 citation statements)

References 30 publications

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“…Though ARC is way different from PID controller, the PID like parameter could be found in the proposed controller, it is very helpful to find them out so that we can tune them under the guidance of the traditional PID parameter tuning method. Note that in formula (12)- (20), k 1 and −τ 1 /τ 2 are directly related to e 1 , k 2 is related to e 2 , in other word related toė 1 , e 1 and is also coupling with k 1 . Because of the coupling, we can choose −τ 1 /τ 2 as the main part of the proportional gain P in PID controller.…”

Section: Parameters Tuning Methodsmentioning

confidence: 99%

“…Especially in the case when big flow rate valve is needed, the valve should be chosen big enough, which increases the overlap area, thus the dead-zone nonlinearity increases. A spool displacement model is adopted [10,20,21] , as shown in Figure 2.…”

Section: System Modelingmentioning

confidence: 99%

“…Sliding mode [14] , fuzzy control [15] and other intelligent control method are used to compensate the negative effect of the dead-zone. Dead-zone inverse [16][17][18][19][20][21] function is commonly used to overcome the negative effects of the dead-zone nonlinearity. To avoid changing the original structure of the dead-zone term while uncertain dead-zone can be well compensated, a dead-zone compensator is proposed.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection

Wang

Hao

2014

J Syst Sci Complex

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A backstepping method based adaptive robust dead-zone compensation controller is proposed for the electro-hydraulic servo systems (EHSSs) with unknown dead-zone and uncertain system parameters. Variable load is seen as a sum of a constant and a variable part. The constant part is regarded as a parameter of the system to be estimated real time. The variable part together with the friction are seen as disturbance so that a robust term in the controller can be adopted to reject them. Compared with the traditional dead-zone compensation method, a dead-zone compensator is incorporated in the EHSS without constructing a dead-zone inverse. Combining backstepping method, an adaptive robust controller (ARC) with dead-zone compensation is formed. An easy-to-use ARC tuning method is also proposed after a further analysis of the ARC structure. Simulations show that the proposed method has a splendid tracking performance, all the uncertain parameters can be estimated, and the disturbance has been rejected while the dead-zone term is well estimated and compensated.

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Section: Parameters Tuning Methodsmentioning

confidence: 99%

Section: System Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection

Wang

Hao

2014

J Syst Sci Complex

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“…Furthermore, this control law is then extended to provide position tracking. Addressing the nonlinear systems with unknown input dead-zones, Hu et al [43] proposed the direct/indirect adaptive robust control combining with the desired compensation strategy to synthesize practical high performance motion controllers for precision electrical drive systems. Even if the overall system is subjected to parametric uncertainties, time varying disturbances, and other uncertain nonlinearities, certain guaranteed robust transient performance and steady-state tracking accuracy can be achieved.…”

Section: Nonlinear Control Algorithm Of Electro-hydraulic Control Systemmentioning

confidence: 99%

Review on Inlet/Outlet Oil Coordinated Control for Electro-Hydraulic Power Mechanism under Sustained Negative Load

Liu

Dong

2018

Applied Sciences

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Speed control and smooth regulation in an electro-hydraulic motion control system under negative load (over-running load) are crucial to mobile machineries, vehicles, and motion simulation equipment. Problems, such as bad natural stability, bad dynamic performance for small adjusting signal, serious coupling, and difficulty to coordinate between speed smoothness and speed regulation, exist in traditional valve-controlled and pump-controlled electro-hydraulic power mechanism. The coordinated motion control scheme, which is based on independent regulation of inlet/outlet oil for electro-hydraulic power mechanism has attracted the attention of many scholars. In the last two decades, many progresses had been made in coordinated control technology, employing in inlet/outlet independent metering and pump/valves independent regulation. Moreover, the technology has been widely used in the electro-hydraulic operating system in hydraulic excavator and the speed smoothness control system in heavy transport vehicles. In this study, recent advancements and upcoming trends in coordinated control and inlet/outlet independent metering for electro-hydraulic power mechanism under sustained negative load are reviewed. Firstly, related research advancements are summarized, including flow rate regulation mechanism based on inlet/outlet coordinated control, coordinated control strategy and nonlinear control method of electro-hydraulic control system. Then, nonlinear modeling of inlet/outlet independent metering and pump/valves independent regulation in electro-hydraulic control system is presented. In addition, the electro-hydraulic speed smoothness control and energy recovery for heavy engineering vehicles under long down-slope is discussed and reviewed. Finally, existing problems and future trends of inlet/outlet coordinated control for an electro-hydraulic power mechanism under sustained negative load are presented.

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“…Permanent-magnet synchronous motors (PMSM) have been widely used due to their compact structure, high power density, high torque to inertia ratio and efficiency in many industry applications [1][2][3]. The linear control method, i.e., proportional-integral-derivative (PID) control methods have been designed for PMSM [4].…”

Section: Introductionmentioning

confidence: 99%

Robust Integral of Sign of Error and Neural Network Control for Servo System with Continuous Friction

Wang

Ren

et al. 2016

2016 35th Chinese Control Conference (CCC)

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Adaptive Robust Precision Motion Control of Systems With Unknown Input Dead-Zones: A Case Study With Comparative Experiments

Cited by 111 publications

References 30 publications

Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection

Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection

Review on Inlet/Outlet Oil Coordinated Control for Electro-Hydraulic Power Mechanism under Sustained Negative Load

Robust Integral of Sign of Error and Neural Network Control for Servo System with Continuous Friction

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