Fuzzy control of a hydraulic position servo with unknown load

Zhao, Tienan; Virvalo, Tapio

doi:10.1109/fuzzy.1993.327542

Cited by 17 publications

(8 citation statements)

References 1 publication

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“…For such manipulators the response of the whole system is dominated by the dynamics of the linkages and the hoses which deliver fluid to the actuators. Thus, a third-order system can describe these manipulators quite well [9], 1161. The physical parameters of the robot have been chosen to resemble the hydraulic robot used by Hanafusa et al [16].…”

Section: Simulation Studiesmentioning

confidence: 99%

“…The emphasis has been placed on the development of the methodology and to investigate the promise of the technique in the control of hydraulic functions. Compared to the work by Zhao and Virvalo [9], the technique designed in this paper is a straight fuzzy controller which has few rules, uses simple membership functions, and operates on only position and velocity measurements. It is simple, easy to implement, and computationally efficient.…”

Section: Introductionmentioning

confidence: 97%

“…General issues in tuning and validation of fuzzy systems have also been addressed in many papers [6]-[SI. The application of fuzzy logic to the control of hydraulically actuated robots, on the other hand, is sparse and could only be found in the work by Zhao and Virvalo [9]. In their paper the presence of a load was indirectly detected, based on a fuzzy rule evaluation of the actuator's velocity, to change the gains of a linear state controller and to make it less sensitive to load variations.…”

Section: Introductionmentioning

confidence: 98%

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Fuzzy control of a class of hydraulically actuated industrial robots

Corbet¹,

Sepehri²,

Lawrence

1996

IEEE Trans. Contr. Syst. Technol.

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Abstruct-Application of a fuzzy logic controller to a class of hydraulically actuated industrial robots is investigated in this paper. A simple, yet effective, set of membership functions and rules are described which meets certain control requirements of such robots. An off-line routine based on the simplex method is then outlined to tune the controller gains for an optimum response. The fuzzy control gains are tuned by minimizing the summation of absolute position errors over step input responses. The fuzzy logic controller is first examined through simulation of a two-link hydraulic robot. The robot has the same hydraulic configuration as many existing industrial manipulators. It is shown that the controller exhibits positive aspects which cannot be easily achieved by conventional control techniques, such as a PD controller with fixed gains. These aspects include a fast rise-time and a well maintained damped response. The fuzzy controller is then applied to an instrumented Unimate MK-I1 industrial hydraulic robot. The experimental results are encouraging in that the best performing control gains are found for different links with a reasonable number of trials and produce step responses with fast response and few oscillations at the set point. The controller demonstrates robustness in the presence of load, variation of set points, and nonideal hydraulic actuation systems. Compared to the simulation studies, the application of fuzzy control in experiments requires a reduction in the width of the zero output membership function to compensate for the effect of friction, leakage, and other nonlinearities inherent in the actual robot. The elimination of steady-state errors which were observed in both step and ramp input experimental responses is also addressed in this paper.

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Section: Simulation Studiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 98%

See 1 more Smart Citation

Fuzzy control of a class of hydraulically actuated industrial robots

Corbet¹,

Sepehri²,

Lawrence

1996

IEEE Trans. Contr. Syst. Technol.

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“…Typical applications of Electro-Hydraulic Position Servo Systems (EHPSS) include injection molding machines, different kinds of machine tools and construction machinery, etc. However, there are also many challenges in the design of electro-hydraulic control system (Zhao and Virvalo, 1993;Li et al, 2006;Chuang and Shiu, 2004). For example, they are the highly nonlinear phenomena such as fluid compressibility, the flow/pressure relationship and deadband due to the internal leakage and hysteresis and the many uncertainties of hydraulic systems due to linearization.…”

Section: Introductionmentioning

confidence: 99%

“…It has many distinct advantages such as the fast response speed, very high system stiffness and a higher force to weight ratio (Zhao and Virvalo, 1993;Li et al, 2006). The electro-hydraulic servo system, among others, is perhaps the most important system for position servo applications because it takes the advantages of both the large output power of traditional hydraulic systems and the rapid response of electric systems.…”

Section: Introductionmentioning

confidence: 99%

A Hybrid of Fuzzy and Proportional-Integral-Derivative Controller for Electro-Hydraulic Position Servo System

Pratumsuwan¹,

Thongchai²,

Tansriwong³

2010

Energy Research J.

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Problem statement: While classical PID controllers are sensitive to variations in the system parameters, Fuzzy controllers do not need precise information about the system variables in order to be effective. However, PID controllers are better able to control and minimize the steady state error of the system. To enhance the controller performance, hybridization of these two controller structures comes to one mind immediately to exploit the beneficial sides of both categories. Approach: A hybrid fuzzy PID controller for the Electro-Hydraulic Position Servo System (EHPSS) was proposed in this study. The proposed control scheme was separated into two parts, fuzzy controller and PID controller. Fuzzy controller was used to control the piston when the piston locates far away from the target position. PID controller is applied when the piston is near the desired position. Results: We demonstrated the performance of control scheme via experiments performed on the EHPSS. Conclusion:The results from the experiments showed that the proposed hybrid fuzzy PID controller has superior performance compared to individual PID controller and fuzzy controller.

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The velocity control of an electro-hydraulic displacement-controlled system using adaptive fuzzy controller with self-tuning fuzzy sliding mode compensation

Chiang

2011

Asian Journal of Control

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Fuzzy control of a hydraulic position servo with unknown load

Cited by 17 publications

References 1 publication

Fuzzy control of a class of hydraulically actuated industrial robots

Fuzzy control of a class of hydraulically actuated industrial robots

A Hybrid of Fuzzy and Proportional-Integral-Derivative Controller for Electro-Hydraulic Position Servo System

The velocity control of an electro-hydraulic displacement-controlled system using adaptive fuzzy controller with self-tuning fuzzy sliding mode compensation

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