Position Control of an Electrohydrostatic Actuator With Tolerance to Internal Leakage

Ren, Guangan; Esfandiari, Masoumeh; Jun, Song; Sepehri, Nariman

doi:10.1109/tcst.2016.2517568

Cited by 42 publications

(28 citation statements)

References 20 publications

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“…where υ is the input voltage to the motor; k m and τ m are motor gain and time constant of the motor, respectively; ω m represents the motor speed. The flow equation of the hydraulic pump is [31]…”

Section: Dynamic Models and Problem Statementmentioning

confidence: 99%

Model-Based Adaptive Command Filtering Control of an Electrohydraulic Actuator With Input Saturation and Friction

Jun

Ren

2020

IEEE Access

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This brief improves the motion precision of a pump-controlled electrohydraulic actuator with input saturation and heavy friction. A model-based adaptive commander filtering control (CFC) with the integration of an anti-windup auxiliary system and friction compensation is proposed. Firstly, CFC is designed to solve the problem of the ''explosion of complexity'' in the classic backstepping design technology, which reduces the online computation burden and is more suitable for industrial applications. Next, an auxiliary dynamic system is introduced to handle the effect of input saturation. The Nussbaum functions are adopted to avoid the derivative singularity of approximate saturation function and improve the anti-windup control performance. Moreover, the designed controller theoretically guarantees asymptotic stability, and the boundedness of all closed-loop system signals is guaranteed. Finally, using a modified continuous LuGre model, a friction compensator is designed in order to improve tracking precision. Comparative experimental results demonstrate the effectiveness of the proposed anti-windup and friction compensation approaches.

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Section: Dynamic Models and Problem Statementmentioning

confidence: 99%

Model-Based Adaptive Command Filtering Control of an Electrohydraulic Actuator With Input Saturation and Friction

Jun

Ren

2020

IEEE Access

Self Cite

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“…As the main actuators of hydraulic system, hydraulic cylinder with high positioning accuracy and high-quality dynamic characteristics has always been a concern of researches, and thus emerges servo control hydraulic system and advanced control algorithms, such as robust controllers (Kim and Choi, 2014;Loukianov et al, 2009;Choi, 2013), quantitative feedback control theory (Ren et al, 2016;Ahn and Dinh, 2009), fuzzy controllers (Mendonç a et al, 2012; 2. Nomenclature 1 A = effective area of the rod-less chamber 2 A = effective area of the rod chamber Figure 1 shows the schematic presentation of self-designed double closed-loop control digital hydraulic cylinder, which is mainly composed of a stepping motor, three-position four-way reversing valve, cylinder block and feedback ball screw.…”

Section: Introductionmentioning

confidence: 99%

Analyzing of influencing factors on dynamic response characteristics of double closed-loop control digital hydraulic cylinder

Xia

Shi

Yuan

et al. 2019

JAMDSM

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A digital hydraulic cylinder that uses mechanical closed-loop feedback regulation to realize double closed-loop control of displacement and velocity is designed in this study. Based on the working principle, the transfer function model and AMESim simulation model of digital hydraulic cylinder were established. The influence of pre-opening distance of the four-way reversing valve, ball-screw lead, inner diameter, and load on the displacement error, adjustment time, overshoot was analyzed. The standard regression analysis about the results was carried out as well. The results show the pre-opening distance of the four-way reversing valve has the greatest influence on the dynamic response characteristics of double closed-loop control digital hydraulic cylinder, and three Pearson coefficients are all greater than 0.9. The non-inertial load has a certain influence on the displacement error of the digital hydraulic cylinder. The optimal value of the ball-screw lead and inner diameter which have less effect on the dynamic characteristics of the system are 10mm and 90mm, respectively. Furthermore, the performance tests of the digital hydraulic cylinder sample were carried out.

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“…A passive QFT-based fault-tolerant position controller is designed for the servo-hydraulic positioning system in the presence of fluid leakage across the actuator piston seal. Recently, another application of QFT to passive FTC is presented for the position control of EHA with a faulty cylinder position seal in [21]. ey further designed a QFTactuating pressure controller for an EHA system with a leaky piston seal [22].…”

Section: Introductionmentioning

confidence: 99%

“…ey further designed a QFTactuating pressure controller for an EHA system with a leaky piston seal [22]. For a comprehensive list of QFT-based FTC work, the reader can refer the papers given in the reference of [21][22][23]. As far as the application of QFT to active FTC design is concerned, the work in [23] proposed a fault tolerant QFT position controller for electrohydraulic actuators against actuator piston fault.…”

Section: Introductionmentioning

confidence: 99%

A New Scheduling Quantitative Feedback Theory‐Based Controller Integrated with Fault Detection for Effective Vibration Control

Jeyasenthil

Lee

Choi

2019

Shock and Vibration

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In this work, a new integrated fault detection and control (IFDC) method is presented for single-input/single-output systems (SISOs). The idea is centered on comparing the closed-loop output between the faulty system and fault-free one to schedule/switch the feedback control once the fault occurs. The problem addressed in this work is the output disturbance rejection. The set of feedback controllers are designed using quantitative feedback theory (QFT) for fault-free and faulty systems. In the context of QFT-based IFDC, the proposed active approach is novel, simple, and easy to implement from an engineering point of view. The efficiency of the proposed method is assessed on a flexible smart structure system featuring a piezoelectric actuator. The actuator and sensor faults considered are the multiplicative type with both fixed and time-varying magnitudes. In the fixed magnitude fault case, the actuator/sensor output delivering capability is reduced by 50% (multiplying a factor of 0.5 to its actual output), while in the time-varying magnitude case, it becomes 60% to 50% for a particular time interval. In both cases, the proposed control method identifies the fault and activates the required controller to satisfy the specification with less control effort as opposed to the passive QFT design featured by faulty system design alone.

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Position Control of an Electrohydrostatic Actuator With Tolerance to Internal Leakage

Cited by 42 publications

References 20 publications

Model-Based Adaptive Command Filtering Control of an Electrohydraulic Actuator With Input Saturation and Friction

Model-Based Adaptive Command Filtering Control of an Electrohydraulic Actuator With Input Saturation and Friction

Analyzing of influencing factors on dynamic response characteristics of double closed-loop control digital hydraulic cylinder

A New Scheduling Quantitative Feedback Theory‐Based Controller Integrated with Fault Detection for Effective Vibration Control

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