Article

Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

Department of Robotics and Automation of Manufacturing Systems, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb HR-10000, Croatia.
ISA Transactions (Impact Factor: 2.26). 10/2010; 49(4):535-42. DOI: 10.1016/j.isatra.2010.06.004
Source: PubMed

ABSTRACT This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system.

2 Bookmarks
 · 
210 Views
  • [Show abstract] [Hide abstract]
    ABSTRACT: The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing.
    ISA Transactions. 01/2014;
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: In order to solve the uncertainties in the position servo system, caused by servo system without modeling accurately, which may cause the deterioration of the control quality of the electro-hydraulic position servo system (EHPSS) and even lead to its instability, a dynamic sliding mode control strategy is proposed for an EHPSS. Based on dynamic switching function, the proposed control strategy has fast response and good disturbance rejection capability. The numerical simulation is presented to verify the effectiveness of the proposed control scheme. It is shown from the experimental results that the proposed controller offers several advantages such as fast response, good disturbance rejection capability, good position tracking capability and so forth. It is also revealed from simulation results that the proposed control strategy is valid for the EHPSS.
    Procedia Engineering. 09/2013; 24:28–32.
  • [Show abstract] [Hide abstract]
    ABSTRACT: In order to enhance the anti-jamming ability of electro-hydraulic position servo control system at the same time improve the control precision of the system, a compound control strategy that combines velocity compensation with Active Disturbance Rejection Controller (ADRC) is proposed, and the working principle of the compound control strategy is given. ADRC controller is designed, and the extended state observer is used for observing internal parameters uncertainties and external disturbances, so that the disturbances of the system are suppressed effectively. Velocity compensation controller is designed and the compensation model is derived to further improve the positioning accuracy of the system and to achieve the velocity compensation without disturbance. The compound control strategy is verified by the simulation and experiment respectively, and the simulation and experimental results show that the electro-hydraulic position servo control system with ADRC controller can effectively inhibit the external disturbances, the precise positioning control is realized after introducing the velocity compensation controller, and verify that the compound control strategy is effective.
    ISA Transactions. 01/2014;