Hydraulic servovalve controlled systems contain many time-varying dynamic characteristics that are difficult to model Controllers for such systems must either adapt to these changing parameters or be robust enough to handle the parameter variations. In order to achieve the highest possible bandwidth, an adaptive controller is developed for the system that uses full-state feedback for simultaneous parameter identification and tracking control This controller takes into account the hydraulic fluid compressibility with an on-line identification scheme Experimental results demonstrate a four fold improvement in bandwidth as compared to a conventional fixed gain proportional controller.
Issue Section:
Technical Papers
1.
Ananthakrishnan
S.
Fullmer
R.
1990
, “The application of a class of adaptive control algorithms to hydraulic servosystems
,” Proceedings of the 1990 American Control Conference, San Diego, CA
, Vol. 2
, May, pp. 1086
–7
.2.
Anderson, B. D. O., and Moore, J. B., 1990, Optimal Control, Linear Quadratic Methods, Prentice Hall, NJ.
3.
Axelson, S., and Kumar, K. S. P., “Dynamic Feedback Linearization of a Hydraulic Valve-Actuator Combination,” Proc American Control Conference, Atlanta GA., pp. 2202–2203.
4.
Bobrow, J. E., and Jabbari, F., 1991, “Adaptive Pneumatic Force Actuation and Position Control,” ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, June, pp. 267–272.
5.
Bobrow
J. E.
Murray
W.
1993
, “An Algorithm for RLS Identification of Parameters that Vary Quickly With Time
,” IEEE Transactions on Automatic Control
, Vol. 38
, No. 2
, Feb., pp. 351
–354
.6.
Goodwin, G. C., and Sin, K. S., 1984, Adaptive Filtering, Prediction and Control, Prentice Hall.
7.
Kim
Y. K.
Gibson
J. S.
1991
, “A Variable-Order Adaptive Controller for a Manipulator With a Sliding Flexible Link
,” IEEE Transactions on Robotics and Automation
, Vol. 7
, No. 6
, Dec. pp. 818
–827
.8.
McDonell
B. W.
Bobrow
J. E.
1993
, “Adaptive Tracking Control of an Air Powered Robot Actuator
,” ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol. 115
, No. 3
, Sept., pp. 427
–433
.9.
Merrit, E. H., 1967, Hydraulic Control Systems, Wiley, New York.
10.
Vossoughi
R.
Donath
M.
1992
, “Dynamic Feedback Linearization for Electrohydraulically Actuated Servosystems
,” Proc Japan/USA Symposium on Flexible Automation
, Vol. 1
, July, pp. 595
–606
, San Francisco, CA.11.
Watton, J., and Barton, R. C. “Further Contributions to the Response and Stability of Electrohydraulic Actuators With Unequal Areas—Part 2: Open loop Response and Closed Loop Stability,” Dynamic Systems: Modelling and Control, Donath, M., ed., ASME, N.Y., 1985, pp. 161–166.
12.
Yun
J. S.
Cho
H. S.
1991
, “Application of an Adaptive Model Following Control Technique to a Hydraulic Servo System Subjected to Unknown Disturbances
,” ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Sept., Vol. 113
, no. 3
, pp. 479
–86
.13.
Zhu
X.
Zhao
F.
Lu
Y.
Lin
J.
1988
, “Study on PID, SFDO, and MRA Control Performance of Multi-Joint Electrohydraulic Robot
,” Proc 1988 IEEE International Conference on Systems, Man, and Cybernetics
, Vol. 2
, pp. 1203
–1205
.
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