Hybrid State Feedback Position-Force Control of Hydraulic Cylinder

Pasolli, Philipp; Ruderman, Michael

doi:10.1109/icmech.2019.8722829

Cited by 8 publications

(5 citation statements)

References 18 publications

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“…One can also notice that with today's maturity of the hybrid systems theory [21], more and more capabilities arise for designing the dedicated hybrid position/force controllers, see e.g. [22], [23] for a recent example.…”

Section: "Stiffness" Of Motion: From Position To Force Controlmentioning

confidence: 99%

“…where c i are the coefficients to be selected. Observing (22) reveals key challenges in developing a feedforward strategy to reject mismatched disturbances. Different from the matched disturbances, the compensation gain in generally depends on the feedback control strategy designed in Step 1 and the corresponding gain.…”

Section: B Mismatched Disturbance and Uncertainty Attenuationmentioning

confidence: 99%

See 1 more Smart Citation

Motion-control techniques of today and tomorrow: a review and discussion of the challenges of controlled motion

Ruderman

Iwasaki²,

Chen

2020

EEE Ind. Electron. Mag.

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Motion control technologies are in core of multiple mechatronic products and applications. Wherever an actuated motion takes place in machines and components, either position or force setting (correspondingly trajectory tracking), or even a combination of both, are demanded from the control system. In high-performance mechatronic systems including micro-and/or nano-scale motion (such as data storage devices, machine tools, manufacturing tools for electronics components, and industrial robots), the required specifications in motion performance, e.g., response/settling time and trajectory/settling accuracy, should be sufficiently achieved [1]. From an industrial perspective, the most common design objective for advanced motion control is to achieve a good tracking/following performance in the presence of disturbances and modeling issues -nominal plant and performance specifications [2]. While motion control, as an applied field of control theory, established itself already in nineties [3], [4], being also independently driven by the contemporary research in robotics [5], an incessant progress in the integrated mechatronic design and novel actuator technologies set new challenges for motion control technologies. Likewise, the today's requirements on material-and energy-saving push the mechatronic systems towards sensor and actuator reduction, hence feedback degradation and underactuation, equally as towards more lightweight and therefore flexible (to say soft) structures. These trends burden a robust and efficient motion control with some ineluctable theoretical and practical issues of different nature. Among those are the plant, specifications, and disturbance modeling, variable structure systems, identification and state estimation, control robustness and adaptivity, and others.In this article, we partially review the state-of-the-art and discuss some recent and potential challenges of the motion control techniques and related developments. Our goal is to highlight and bring to attention of the interested auditorium of IEEE Industrial Electronics Society (IES) the principal features and associated issues of the controlled motion in advanced mechatronic systems and applications. By doing it, we are referring to the works published not only in IES journals and conferences but, rather, associated with a broadly spread research community around the motion control topics and affiliated technologies. Starting with basic principles of the motion stiffness and ideal versus disturbed motion under control, we clarify the vibrational perturbations owing to the structures, and damping perturbations owing to the friction on contact interfaces. The motion stiffness is introduced in Section I and that for an ideal position and force control, following by the mechanical impedance control as a more general case. In Section II we put an ideal versus disturbed motion under control, with associated canonical form of the state-space system modeling. Vibrational and frictional perturbations, as often most pronounced in the controlled m...

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Section: "Stiffness" Of Motion: From Position To Force Controlmentioning

confidence: 99%

Section: B Mismatched Disturbance and Uncertainty Attenuationmentioning

confidence: 99%

Motion-control techniques of today and tomorrow: a review and discussion of the challenges of controlled motion

Ruderman

Iwasaki²,

Chen

2020

EEE Ind. Electron. Mag.

Self Cite

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“…Both cylinders are rigidly coupled to each other via a sensing force-cell, that allows for direct reference measurement of the interactive forces which we aim to estimate, correspondingly predict. More technical details on the experimental setup of hydraulic system in use can be found in [30], [31].…”

Section: Experimental Case Studymentioning

confidence: 99%

Lead-Lag-Shaped Interactive Force Estimation by Equivalent Output Injection of Sliding-Mode

Ruderman

2019

Preprint

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Estimation of interactive forces, which are mostly unavailable for direct measurement on the interface between a system and its environment, is an essential task in various motion control applications. This paper proposes an interactive force estimation method, based on the well-known equivalent output injection of the second-order sliding mode. The equivalent output injection is used to obtain a frequency-unshaped quantity that appears as a matched external disturbance and encompasses the interactive forces. Afterwards, a universal lead-lag shaper, depending on dynamics of the motion control system coupled with its environment, is used to extract an interactive force quantity. Once identified, the lead-lag shaper can be applied to the given system structure. An experimental case study, using a valvecontrolled hydraulic cylinder counteracted by the dynamic load, is demonstrated with an accurate estimation of the interactive force, that in comparison to the reference measurement.

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“…A similar concept was proposed for hydraulic actuators by Pasolli and Ruderman. 24 The hybrid position and force control was realized with event-based switching between both control modes. The transferability of the concept with two coupled electromechanical feed axes to a single axis and a control system from Beckhoff was proven in.…”

Section: Introductionmentioning

confidence: 99%

Simulative investigation of hybrid force and position control for electromechanical feed axes in production machines

Sewohl

Norberger

Schlegel

et al. 2020

Engineering Reports

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In the area of production engineering, there are several ongoing efforts to improve manufacturing strategies and processes in terms of stability, quality, and efficiency. Control of process forces is one such appropriate measure for ensuring stable process conditions. This can also ensure in reducing the number of parts rejected due to bad quality and thus aiding as a significant economic benefit. However, control of process forces in production machines with electromechanical feed axes is still a developing field and offers space for potential improvement. Control concepts at the process level, which enable a combination of force control and position control still need to be developed. The concept of hybrid force and position control is presented in this article as a possible approach. Different methods of implementation along with the effects are examined in the simulation. A reduced‐order model of an electromechanical feed axis is used for this purpose. The potential of the hybrid force and position control as well as the limits and possible applications are explained based on the simulation results.

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Hybrid State Feedback Position-Force Control of Hydraulic Cylinder

Cited by 8 publications

References 18 publications

Motion-control techniques of today and tomorrow: a review and discussion of the challenges of controlled motion

Motion-control techniques of today and tomorrow: a review and discussion of the challenges of controlled motion

Lead-Lag-Shaped Interactive Force Estimation by Equivalent Output Injection of Sliding-Mode

Simulative investigation of hybrid force and position control for electromechanical feed axes in production machines

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