On the limitations of force tracking control for hydraulic active suspensions

Alleyne, Andrew G.; Liu, Rui; Wright, H.H.

doi:10.1109/acc.1998.694625

Cited by 40 publications

(23 citation statements)

References 10 publications

(2 reference statements)

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“…(1) a stick phase occurs when velocity is within a small critical velocity range; (2) there is a maximum value for friction when the mass under consideration sticks.…”

Section: Mechanical Subsystemmentioning

confidence: 99%

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Force tracking neural block control for an electro‐hydraulic actuator via second‐order sliding mode

Loukianov

Sánchez

Lizalde

2007

Intl J Robust & Nonlinear

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SUMMARYThis paper presents a novel scheme for identification and control of an electro-hydraulic system using recurrent neural networks. The proposed neural network has the nonlinear block control form structure. A sliding-mode control technique is applied then to design a discontinuous controller, which is able to track a force reference trajectory. Due to the presence of an unmodelled dynamics, the standard sliding-mode controller produces oscillations (or 'chattering') in the closed-loop system. The second-order sliding mode is used to eliminate the undesired chattering effect. Simulations are presented to illustrate the results.

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“…(1) a stick phase occurs when velocity is within a small critical velocity range; (2) there is a maximum value for friction when the mass under consideration sticks.…”

Section: Mechanical Subsystemmentioning

confidence: 99%

“…Several control algorithms have been used to force tracking for electro-hydraulic actuators [2][3][4], including sliding-mode control [5,6]. These controllers were designed based on the plant physical model and, therefore, the plant parameters knowledge is required.…”

Section: Introductionmentioning

confidence: 99%

Force tracking neural block control for an electro‐hydraulic actuator via second‐order sliding mode

Loukianov

Sánchez

Lizalde

2007

Intl J Robust & Nonlinear

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“…8,9 The force tracking accuracy with the traditional proportional-integral-derivative (PID) type of controller was evaluated by Alleyne et al 10 in 1998 and this simple controller was shown to be inadequate for force tracking because of the fixed control gains used. To cope with the defects of conventional PID controller, some modifications such as fuzzy PID controller, 11,12 fuzzy intelligent feedforward controller, 13 etc.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental evaluation of feedforward controller integrating filtered-x LMS algorithm with applications to electro-hydraulic force control systems

Zhu

Shen

2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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The control purpose of an electro-hydraulic force control (EHFC) system is to real time replicate the force exerted on a structure in laboratory so as to simulate loads that cannot otherwise be generated naturally. In contrast to electrohydraulic position control system, the tracking performance of EHFC system is always limited. To enhance the force replication accuracy of EHFC systems, a feedforward inverse controller integrating filtered-x LMS adaptive algorithm is presented in this paper. The proposed controller comprises a feedforward inverse controller and an adaptive controller. The feedforward inverse controller working as an inner loop is firstly established by directly cascading the designed parametric inverse transfer function to the EHFC system with proportional integral controller and the inverse transfer function is obtained with the implementation of system identification and zero magnitude error tracking technology. Then, the adaptive controller employing the filtered-x LMS algorithm acting as an outer loop is further combined with the feedforward controller to deal with the error occurred in the inverse model design procedure. Therefore, the proposed controller is an easy-to-implement strategy and can effectively enhance the force replication performance for both phase delay errors and amplitude mismatch errors. Finally, a series of experiments are carried out on a real EHFC test rig by means of xPC target technology, and the experimental results indicate that the proposed controller has a relatively better tracking accuracy compared with the proportional integral controller and the feedforward controller. It is also worth noting that the proposed controller can also be extended to other servo control systems where high accuracy tracking performance is required.

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“…Alleyne et al [4] showed that a conventional Pill controller does not yield reasonable performance over a wide range of operating conditions. Chen et a!.…”

Section: Introductionmentioning

confidence: 99%

Robust force control of a hybrid actuator using quantitative feedback theory

2007

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The use of hydraulic systems in industrial applicationshas become widespread due to their advantages in efficiency. In recent years, hybrid actuation systems, which combine electric and hydraulic technology into a compact unit, have been adapted to a wide variety of force, speed and torque requirements. A hybrid actuation system resolves energy consumption and noise problems characteristic of conventional hydraulic systems. A new, low-cost hybrid actuator using a DC motor is considered to be a novel linear actuator with various applications such as robotics, automation, plastic injection-molding, and metal forming technology. However, this efficiency gain is often accompanied by a degradation of system stability and control problems. In this paper, to satisfy robust performance requirements, tracking performance specifications, and disturbance attenuation requirements, the design of a robust force controller for a new hybrid actuator using Quantitative Feedback Theory (QFT) is presented. A family of plant models is obtained from measuring frequency responses of the system in the presence of significant uncertainty. Experimental results show that the hybrid actuator can achieve highly robust force tracking even when environmental stiffness set-point force varies. In addition, it is understood that the new system reduces energy use, even though its response is similar to that of a valve-controlledsystem.

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On the limitations of force tracking control for hydraulic active suspensions

Cited by 40 publications

References 10 publications

Force tracking neural block control for an electro‐hydraulic actuator via second‐order sliding mode

Force tracking neural block control for an electro‐hydraulic actuator via second‐order sliding mode

Design and experimental evaluation of feedforward controller integrating filtered-x LMS algorithm with applications to electro-hydraulic force control systems

Robust force control of a hybrid actuator using quantitative feedback theory

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