This paper presents position control of a moving platform using a hydraulic bridge circuit associated with electrorheological (ER) valves. Four cylindrical ER valves are designed and manufactured on the basis of electric field-dependent yield stress of an ER field, which is composed of chemically treated starch and silicone oil. The pressure drops of the ER valves are empirically identified with respect to the intensity of the electric field, and the hydraulic bridge circuit with four ER valves is constructed. The hydraulic cylinder system to be controlled by the ER valve bridge circuit is then incorporated with a moving platform of a cargo handling laboratory model. Subsequently, a neural network control scheme is formulated in order to control the position of the moving platform by activating ER valves of the cylinder system. The controller is experimentally realized and position tracking control results for desired trajectories of the moving platform are presented in the time domain.
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September 2002
Technical Papers
The Neural Network Position-Control of a Moving Platform Using Electrorheological Valves
Seung-Bok Choi, Professor,
Seung-Bok Choi, Professor
Department of Mechanical Engineering
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Kum-Gil Sung, Graduate Assistant,
Kum-Gil Sung, Graduate Assistant
Department of Mechanical Engineering
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Jae-Wook Lee, Professor
Jae-Wook Lee, Professor
Department of Naval Architecture and Ocean Engineering Inha University, Incheon 402–751, Korea
Search for other works by this author on:
Seung-Bok Choi, Professor
Department of Mechanical Engineering
Kum-Gil Sung, Graduate Assistant
Department of Mechanical Engineering
Jae-Wook Lee, Professor
Department of Naval Architecture and Ocean Engineering Inha University, Incheon 402–751, Korea
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division July 1, 2000. Associate Editor: S. Nair.
J. Dyn. Sys., Meas., Control. Sep 2002, 124(3): 435-442 (8 pages)
Published Online: July 23, 2002
Article history
Received:
July 1, 2000
Online:
July 23, 2002
Citation
Choi, S., Sung, K., and Lee, J. (July 23, 2002). "The Neural Network Position-Control of a Moving Platform Using Electrorheological Valves ." ASME. J. Dyn. Sys., Meas., Control. September 2002; 124(3): 435–442. https://doi.org/10.1115/1.1485095
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