Feedback linearization based control of a rotational hydraulic drive

Seo, Jaho; Venugopal, Ravinder; Kenné, Jean‐Pierre

doi:10.1016/j.conengprac.2007.02.009

Cited by 81 publications

(39 citation statements)

References 13 publications

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“…However, none of these authors have implemented the controller on a real system. This was done by Seo, Venugopal, and Kenné (2007). A feedback linearisation controller was derived and implemented for a rotational hydraulic drive.…”

Section: Nonlinear State Feedback Controllermentioning

confidence: 99%

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. These are functions that aim at assisting the driver in more or less critical situations and could be anything from applying a guiding steering torque to taking over the steering completely. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. This refers to the possibility to control the steering angle or steering torque with an electronic signal.The power steering system was initially developed to ease the driver's workload by assisting in turning the wheels. This is traditionally done through an open-centre hydraulic system and heavy trucks must still rely on fluid power, due to the heavy work forces. The system provides a robust solution but suffers from poor energy efficiency and lacks the possibility of active control. Since the purpose of the original system is to control the assistive pressure, one way would be to use proportional pressure control valves. Since these are electronically controlled, active steering is possible and with closed-centre, energy efficiency can be significantly improved on.In this work, such a system is analysed in detail with the purpose of investigating the possible use of the system for Boost curve control, the most common control strategy in power steering systems, and position control for autonomous driving. Commercially available valves are investigated since they provide an attractive solution. A model-based approach is adopted, where simulation of the system is an important tool. Detailed models at both a component level and a system level are developed and form the basis of the analysis and control design. Another important tool is hardware-in-the-loop simulation. A test rig of the system, that also includes the original system, is developed. The rig supports the modelling and validation process, as it also makes it possible to verify control concepts on a real system. This work has shown how proportional pressure control valves can be used for Boost curve control and position control and what implications this has i on a system level. As it turns out, the valves add a great deal of phase shift and with the high gain from the Boost curve, this creates a control challenge. The problem can be handled by tuning the Boost gain, pressure response and damping and has been effectively shown through simulation and experiments. For position control, there is greater freedom to design the controller to fit the system. The pressure response can be made fast enough for this case and the phase shift is much less critical.Keywords: Electrohydraulic power steering, pressure control, closed-centre steering, Boost curve control, autonomous driving, hardware-...

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Section: Nonlinear State Feedback Controllermentioning

confidence: 99%

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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“…This linear feedback linearization can help to ensure stability and a good performance of the system if certain conditions of the system are met [11]. This feedback linearization approach is used in [21][23], and has shown a good improvement in stability and system performance.…”

Section: A Theoretical Mathematical Analysismentioning

confidence: 99%

“…In (22) - (26), u(t) is control current input, y(t) is system output, J is total inertia of the motor, D m is volumetric displacement of the motor, B is viscous damping coefficient, T F is Coulomb friction coefficient, T L is load torque which we assume to be constant and unknown, is fluid bulk modulus, V m is total oil volume in the two chamber of the actuator, C d is flow discharge coefficient, ρ is fluid mass density, C sm is leakage coefficient, P s is supply pressure, K is servo valve amplifier gain and τ is the servo valve time constant. The continuous differentiable sigmoid function is used to approximate non-differentiable sign function in (22)- (26) and result in: (27) By doing this, electro hydraulic system can be differentiated and the use of feedback linearization approach is allowable [21]. This linear feedback linearization can help to ensure stability and a good performance of the system if certain conditions of the system are met [11].…”

Section: A Theoretical Mathematical Analysismentioning

confidence: 99%

Review on Modeling and Controller Design of Hydraulic Actuator Systems

Salleh

Rahmat

Othman

et al. 2015

International Journal on Smart Sensing and Intelligent Systems

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Abstract-The purpose of this paper is to review the literature on modeling and previous control strategies of the hydraulic actuator system proposed by most of the researchers around the world.Before comes to the main discussion, some background information related to hydraulic actuator will be presented. This review includes a short summary and conclusion for hydraulic actuator system. The repercussion of this review is for future inventions of a better and robust hydraulic actuator system.

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“…In an effort to overcome these issues, a number of approaches have been applied to design hydraulic control systems, including feedback linearization (Seo, Venugopal, & Kenne, 2007;Vossoughi & Donath, 1995), adaptive control (Guan & Pan, 2008;Plummer & Vaughan, 1996), and nonlinear Lyapunov-based control (Sekhavat, Sepehri, & Wu, 2006). Despite all these developments, however, the simplicity of proportional (P) or proportionalintegral (PI) control laws still prevails in many industrial fluid power applications (Jacazio & Balossini, 2007;Mare, 2006;Plummer, 2007).…”

Section: Introductionmentioning

confidence: 99%