Position control of hydraulic servo system using proportional-integral-derivative controller tuned by some evolutionary techniques

Essa, Mohamed El-Sayed M.; Aboelela, Magdy A.S.; Hassan, Mohamed

doi:10.1177/1077546314551445

Cited by 28 publications

(29 citation statements)

References 16 publications

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“…Three gains K p , K i and K d scale the proportional, integral and derivative part of the controller, respectively. However, finding the optimal values for the gains is not straightforward [42].…”

Section: Controller Implementation -Pid Controller Descriptionmentioning

confidence: 99%

Non-linear control of a hydraulic piezo-valve using a generalised Prandtl–Ishlinskii hysteresis model

Stefański

Minorowicz

Persson

et al. 2017

Mechanical Systems and Signal Processing

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a b s t r a c tThe potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalised PrandtlIshlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.

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Section: Controller Implementation -Pid Controller Descriptionmentioning

confidence: 99%

Non-linear control of a hydraulic piezo-valve using a generalised Prandtl–Ishlinskii hysteresis model

Stefański

Minorowicz

Persson

et al. 2017

Mechanical Systems and Signal Processing

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“…Hydraulic servo valve systems (HSS), which produce high torque and large forces with high speeds, are the critical components of the industrial field. The applications of HSS include, but are not limited to, manipulators, material test machines, fatigue testing, robotics, and aircraft [1]. In comparison to the other devices playing roles in the HSS, the role of the hydraulic servo valve systems is more advantageous.…”

Section: Introductionmentioning

confidence: 99%

“…In comparison to the other devices playing roles in the HSS, the role of the hydraulic servo valve systems is more advantageous. This is because of its high power and its high-speed response [1]. The response of hydraulic servo valve systems is highly nonlinear due to the directional changes of valve opening and friction; it would not be effortless to control such nonlinear systems using linear controllers [2,3].…”

Section: Introductionmentioning

confidence: 99%

“…The most commonly used controller in industrial applications is the Proportional-Integral-derivative (PID) controller [6,7], which uses the feedback of the systems to calculate the command of the system at each time step. In an HSS, the PID controller's purpose is to minimize the difference between the desired set point and the measured output feedback of the plant by adjusting the command value sent to the valves [1,8]. It is well known that PID controllers show poor control performances for integrating processes and processes with large time delays.…”

Section: Introductionmentioning

confidence: 99%

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Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine

et al. 2020

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Feed-forward control of hysteretic systems is a challenging task due to the hysteresis nonlinearity. Hysteresis models are utilized not only for identification, but also for hysteresis control. The feed-forward control, which is not an error-based (feedback-based) algorithm, plays a significant role in hysteresis control problems. Instead, it works based on knowledge about the process in the form of a mathematical model of the process. In feed-forward control problems, it is important to identify the inverse relationship of the output and input of the system, i.e., determining the mapping of the output and input of the system plays a key role in feed-forward controlling. This paper presents a new feed-forward controller model to control an actuator in a laboratory to tackle the restrictions of feedback control systems. For this purpose, first, a numerical model of a Proportional-Integral-Derivative (PID)-controlled actuator was created, and sets of numerical data of inputs and outputs of the plant were generated. Then, a least-squares support-vector machine (LS-SVM) hysteresis model was trained inversely on the generated data sets of the numerical modeling. Afterwards, to examine the efficacy of the proposed method for real-world hydraulic actuators in the presence of experimental errors and noise, sets of experimental data were obtained from physical modeling at KNTU’s Structural and Earthquake Engineering Laboratory (KSEEL). The results indicate the high performance of the proposed model.

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“…The control of hydraulic systems could be classified as position, velocity or force control. Essa et al, [3], used different control methods to control the position of a hydraulic press machine emulator as an actual industrial application. It has been shown that the algorithm of particle swarm optimization, PSO, control technique is DOI: 10.21608/pserj.2020.26403.1040 more efficient than other used control strategies in terms of settling time, overshoot and transient response for trajectory position control of a hydraulic cylinder.…”

Section: Introductionmentioning

confidence: 99%

A modified sliding mode control for accurate position control of a hydraulic cylinder

Mohammed

Hammam

Mousa

et al. 2020

Port-Said Engineering Research Journal

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The electrohydraulic servo systems (EHSS) are used extensively in industry such as flight, ships engineering, machines of injection molding, robotics, and steel and aluminum factory's equipment. It has the advantages of high power to weight ratio, linear movement, and fast response. In order to overcome the problem of nonlinearity of the controlled system, a sliding mode controller with error (ESMC) is proposed in such a way that the error signal modifies the ordinary switching mode control action. Pulse width modulation (PWM) technique is used to convert the control action into a digital signal capable of driving the solenoid of an electrohydraulic servo valve to control the oil flow entering the hydraulic cylinder so that its position could be controlled. A dynamic model of an electrohydraulic control system is simulated using MATLAB/Simulink software where the control parameters are optimized for experimental testing of PID and sliding mode controllers. The two controllers are then fine-tuned experimentally and their performance is compared under square and sinusoidal reference inputs. The experiments showed that the proposed ESMC gives less steady state error, less overshoot, and less settling time compared to both PID and ordinary switching sliding mode controllers.

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Position control of hydraulic servo system using proportional-integral-derivative controller tuned by some evolutionary techniques

Cited by 28 publications

References 16 publications

Non-linear control of a hydraulic piezo-valve using a generalised Prandtl–Ishlinskii hysteresis model

Non-linear control of a hydraulic piezo-valve using a generalised Prandtl–Ishlinskii hysteresis model

Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine

A modified sliding mode control for accurate position control of a hydraulic cylinder

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