Nonlinear adaptive torque control of electro-hydraulic load system with external active motion disturbance

Wang, Chengwen; Zhang, Jiao; Wu, Shuai

doi:10.1016/j.mechatronics.2013.11.005

Cited by 79 publications

(57 citation statements)

References 21 publications

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“…The proposed mathematical models [8] for transport modules with hydromechanical drives require checking for validity of obtained calculation results. Energy regeneration system for hybrid hydraulic transport modules [12] revealed that approximately 41 % of potential energy can be regenerated in case of introduction of a battery. On the other hand, it is a widely acknowledged [13] that many of hydraulic systems for prevention of hydraulic pulse and overloading are equipped with hydraulic batteries.…”

Section: Literature Analysis and Problem Statementmentioning

confidence: 99%

Structural-parametric synthesis of hydro-mechanical drive of hoisting and lowering mechanism of package-forming machines

Гавва

Kryvoplias-Volodina

Yakymchuk

2017

EEJET

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Section: Literature Analysis and Problem Statementmentioning

confidence: 99%

Structural-parametric synthesis of hydro-mechanical drive of hoisting and lowering mechanism of package-forming machines

Гавва

Kryvoplias-Volodina

Yakymchuk

2017

EEJET

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“…So the variable parameters of PID controller are presented to suit the hydraulic dynamic characteristic [13,14]. Some advanced control methods such as adaptive sliding mode [15][16][17] and backstepping controllers [18,19] are used in EHSS and get some good performance. In addition, the robust controllers [20][21][22] of EHSS are presented with parameter uncertainty disturbance, which are converted to ∞ control problem solved by conventional robust analysis or linear matrix inequality.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment

Guo

Jiang

2015

Mathematical Problems in Engineering

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A robust ∞ control method and switched control algorithm for hydraulic actuator presents in human-machine coordinated motion to solve the motion delay of lower extremity exoskeleton. After the characteristic parameters synthesis of human limb and exoskeleton linkage, the human-machine coupled motion model is constructed to estimate the appropriate hydraulic pressure, which is considered as a structural uncertainty in hydraulic model. Then the robust controller is designed to improve the robust stability and performance under the structural and parametric uncertainty disturbances. Simulation results show that, in walking mode, this robust controller can achieve a better dynamic response and aid-force efficiency than PID controller. Then, according to gait divisions of person's limb motion, the switched control algorithm is designed to reduce the delay of exoskeleton tracking person. Finally, the experimental results show that the human-machine coordinated walk with bearing 60 kg load and squat action with no external load are realized effectively by this proposed method.

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“…[1][2][3] The EHSS consists of a force loading system, a shaking table, a test specimen, eight exciters, two reaction walls and the portal frame, and so on. In order to achieve the vibration environment simulation, a test specimen is installed on the shaking table, which is connected to hydraulic exciters by hinge supports.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of the parameter-based closed-loop transfer function identification for electro-hydraulic servo systems

Liu

Shen

2017

Advances in Mechanical Engineering

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Closed-loop systems of an electro-hydraulic servo system including position, acceleration, and force closed-loop systems and their closed-loop transfer functions based on parameter model are adaptive identified using a recursive extended least-squares algorithm. The position and force closed-loop tracking controllers are designed by a proportional-integral-derivative controller and are tuned by the position and force step signals. The acceleration closed-loop tracking controller is designed by a three-variable controller and the three states include position, velocity, and acceleration. Experimental results of the estimated position, acceleration, and force closed-loop transfer functions are performed on an actual electro-hydraulic servo system using xPC rapid prototyping technology, which clearly demonstrate the benefit of the adaptive identification method.

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Nonlinear adaptive torque control of electro-hydraulic load system with external active motion disturbance

Cited by 79 publications

References 21 publications

Structural-parametric synthesis of hydro-mechanical drive of hoisting and lowering mechanism of package-forming machines

Structural-parametric synthesis of hydro-mechanical drive of hoisting and lowering mechanism of package-forming machines

A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment

Experimental evaluation of the parameter-based closed-loop transfer function identification for electro-hydraulic servo systems

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