Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory

Wang, Chengwen; Quan, Long; Zhang, Shijie; Han, Meng; Yuan, Liang

doi:10.1016/j.isatra.2017.01.009

Cited by 57 publications

(36 citation statements)

References 35 publications

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“…Theorem 1: For the developed control law (25) augmented with the ESO (16), by choosing the control parameters to satisfy ω o > 1 + λ max P , k 1 > 0 and k 2 > ω o 2 ξ n − ω o 2 2 /4, then the proposed control strategy guarantees that:…”

Section: Resultsmentioning

confidence: 99%

“…The extended-state observer (ESO) provides a solution to estimate the uncertainties. The most attractive feature of ESO lies in that, in addition to giving the system states, it also produces the overall estimates for the unmodelled dynamics, unknown disturbances and parameters variation [25][26][27].…”

Section: Introductionmentioning

confidence: 99%

“…ii) Controller C2: This is the reduced-order model-based output feedback controller. In the experiments, C2 is carried out with the developed control law(25) with cutting off the compensation of the total disturbances x^3 (see Appendix 3). The aim of performing C2 is to verify effectiveness of handling the uncertain disturbances through the developed ESO.…”

mentioning

confidence: 99%

See 2 more Smart Citations

Disturbance observer‐based output feedback control of hydraulic servo system considering mismatched uncertainties and internal pressure dynamics stability

Wang

Zhang

Wang

et al. 2020

IET Control Theory & Applications

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Disturbance observer‐based output feedback control of hydraulic servo system considering mismatched uncertainties and internal pressure dynamics stability

Wang

Zhang

Wang

et al. 2020

IET Control Theory & Applications

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“…The Tikhonov theorem [38] states that when the boundary layer model is stable, the fast-changing states can be removed, while the static relationship is considered the boundary condition to participate in the process of the slow-changing states, thus achieving system dimensionality reduction and simplification. The singular perturbation analysis is widely applied in the hydraulic servo system [39]. Based on the above analysis, the hydraulic servo system can be described by four states: the pressure states and mechanical states, which refer to the displacement and velocity of the actuator.…”

Section: Hydraulic Driving Force Model Based On Singular Perturbationmentioning

confidence: 99%

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Wang

Cui

et al. 2020

Chin. J. Mech. Eng.

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The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity. However, the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic system. In this study, the trajectory control of a 3-DOF symmetric spherical parallel 3UPS/S manipulator is evaluated. Focusing on the highly coupling and nonlinear system dynamics, a compound impedance control method for a hydraulic driven parallel manipulator is proposed, which combines impedance control with the spatial motion characteristics of a parallel manipulator. The control strategy is divided into the inner and outer loops. The inner loop controls the impedance of the actuator in the joint space, and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving platform. Compound impedance control does not require force or pressure sensors and is less dependent on modeling precision. The experimental results show that the compound impedance control effectively improves the tracking accuracy of the moving platform. This research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator, which has high tracking precision with a simple and cheap system configuration.

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“…Conventional electro-hydraulic vibration exciter composed of a servo valve and a cylinder is a typical valve-controlled cylinder system. [13][14][15] Vibration waveform is determined by the control signal sent to the servo valve. The control signal is obtained based on the control algorithm, in which the desired vibration signal is compared and computed with the measured vibration signal.…”

Section: Introductionmentioning

confidence: 99%

Analytical solution to orifice design in a rotary valve controlled electro-hydraulic vibration exciter for high-frequency sinusoidal vibration waveform

Wang

Quan

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part E:

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The present study is focused on a novel method for the acquisition of high-frequency sinusoidal vibration waveform with electro-hydraulic vibration exciter. A rotary valve controlled electro-hydraulic vibration exciter is proposed to make it easier to obtain high vibration frequency than the conventional servo valve controlled counterpart. Three common used offices are taken into consideration: rectangular orifice, triangular orifice, and semicircular orifice. Analytical solution to orifice design of shape and axial length is suggested for the accurate control of vibration waveform. Harmonic theory borrowed from electronic technology is used as an evaluation index for the shape of vibration waveform. The orifice shape design decision is made according to the total harmonic distortion of vibration waveform. The nonlinear differential equation which models vibration waveform is established. The orifice axial length is designed according to the supply pressure, vibration frequency, and amplitude. Both theoretical and experimental results show that rectangular orifice is desirable for high-frequency sinusoidal vibration waveforms. With the orifice design solution, the proposed vibration exciter can output the vibration waveform with total harmonic distortion of less than 1% as compared with sinusoidal waveform and maximum error of 5% as compared with experimental value at vibration frequency of higher than 100 Hz, and greatly extend the frequency bandwidth when sinusoidal vibration waveform is required.

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Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory

Cited by 57 publications

References 35 publications

Disturbance observer‐based output feedback control of hydraulic servo system considering mismatched uncertainties and internal pressure dynamics stability

Disturbance observer‐based output feedback control of hydraulic servo system considering mismatched uncertainties and internal pressure dynamics stability

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Analytical solution to orifice design in a rotary valve controlled electro-hydraulic vibration exciter for high-frequency sinusoidal vibration waveform

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