Modeling and Pressure-Based Force Control of a Hydraulic Actuator

1997 ◽  
Author(s):  
Scott M. Lyon ◽  
Mark S. Evans
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Feedback Linearization ◽  
External Surface ◽  
Bond Graph ◽  
Hydraulic Pressure ◽  
Velocity Control ◽  
Hydraulic Actuator ◽  
Spool Valve ◽  
Piston Position

Abstract A dynamic model of a hydraulic actuator/spool valve combination is developed using the bond graph method. Feedback linearization is used to develop a force controller for the system using hydraulic pressure in each chamber of the actuator along with piston position and velocity as feedback. The use of a feedforward term to compensate for the seal friction within the actuator provides for a stable and accurate controller. Velocity control is achieved through calculation of the reference force required to overcome the seal friction and produce the acceleration required to reach the desired velocity. It is shown that the use of such a force controller allows for an acceptable transition from velocity to force control when the piston comes in contact with an external surface.

Passivity-Based Impact and Force Control of a Pneumatic Actuator

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
Yong Zhu ◽  
Eric J. Barth
Keyword(s):  
Force Control ◽  
Closed Loop ◽  
Graph Model ◽  
Bond Graph ◽  
Pneumatic Actuator ◽  
Force Output ◽  
Supply Rate ◽  
Actuation Force ◽  
Valve Position ◽  
Spool Valve

To carry out stable and dissipative contact tasks with an arbitrary environment, it is critical for a pneumatic actuator to be passive with respect to a supply rate consisting of the spool valve position input and the actuation force output. A pseudo-bond graph model with the inner product between spool valve position input and actuation force output as a pseudo-supply rate is developed. Using this pseudo-bond graph model, an open-loop pneumatic actuator controlled by a four-way proportional valve can be proven to not be passive with respect to the pseudo-supply rate. Conversely, it can also be proven to be passive with respect to the pseudo-supply rate under a closed-loop feedback control law. The passivity of the closed-loop pneumatic actuator is verified in impact and force control experiments. The experimental results also validate the pseudo-bond graph model. The pseudo-bond graph model is intended for passivity analysis and controller design for pneumatic actuation applications where contact stability (such as robotic assembly) and/or stable interaction with a passive environment (such as human-robot interaction) is required.

Dynamic Analysis and Simulation of a 1-DOF Driven by a Parallel Force/Velocity Actuator (PFVA)

2007 ◽  
Author(s):  
Dinesh Rabindran ◽  
Delbert Tesar
Keyword(s):  
Numerical Simulation ◽  
Dynamic Model ◽  
Force Control ◽  
Gear Train ◽  
Control Mode ◽  
Velocity Control ◽  
Dynamic Coupling ◽  
Force And Motion ◽  
Prime Movers ◽  
Force Velocity

Some work has been done to try to combine force control and velocity control capability into the same actuator design. The objective in trying to incorporate two fundamentally distinct resources (force and motion priorities) into the same actuator is to obtain an expanded spectrum of dynamic responses at the output of the system so that the system may (ideally) operate in pure force control mode or pure velocity control mode or a combination of these modes. Presented in this paper is a design that combines two fundamentally distinct actuators (one using low reduction or even direct drive, which we will call a Force Actuator (FA) and the other with a high reduction gear train that we will refer to as a Velocity Actuator (VA)). The premise of this work is that we could obtain a variety of responses at the system’s output by integrating separate force and motion priorities (Parallel Force/Velocity Actuator) within the same system in-parallel and dynamically “mixing” their contributions. We conceptually describe a Parallel Force/Velocity Actuator (PFVA) based on a Dual-Input-Single-Output (DISO) epicyclic gear train. We then present a dynamic model formulation for a non-linear 1-DOF mechanical system (Slider-Crank Mechanism) that uses a PFVA at the input. Using this dynamic model, we present a numerical simulation. The numerical simulation focuses on two issues, (a) effect of the relative scale change (ρ) between the two inputs on the torques at the two prime-movers and (b) effect of ρ on the dynamic coupling between the inputs. It was observed that as the relative scale change (represented by ρ) was decreased (i.e. the sub-systems tend towards behaving as “equal” systems) the dynamic coupling between the systems increased. In the study of the effect of ρ on the inertia and static torques at the prime-movers, it was noticed that they follow inverse trends.

Modeling and Control Design for an Inlet Metering Valve-Controlled Pump Used to Control Actuator Velocity Via H-Infinity and Two-Degrees-of-Freedom Methods

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Hasan H. Ali ◽  
Roger C. Fales ◽  
Noah D. Manring
Keyword(s):  
Fluid Flow ◽  
Control System ◽  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
High Efficiency ◽  
Hydraulic Cylinder ◽  
Velocity Control ◽  
Hydraulic Actuator ◽  
Two Degrees Of Freedom

Using a unique inlet metering pump with fixed displacement and speed, this work introduces a new way to control a linear hydraulic actuator velocity. The inlet metering system consists of an inlet metering valve that adjusts the hydraulic fluid flow that enters the pump and a fixed displacement pump. Fluid is supplied to the inlet metering valve at a fixed pressure. Energy losses associated with flow metering in the system are reduced because the pressure drop across the inlet metering valve can be small compared to a traditional valve-controlled system. A velocity control system is designed using the inlet metering pump to control the fluid flow into a hydraulic cylinder. First, the valve dynamic model is ignored, the open-loop response is studied, and closed-loop proportional and proportional derivative controllers are designed. Next, the valve dynamic model is included and closed-loop proportional integral derivative, H∞, and two-degrees-of-freedom controllers are designed. Designs with the goals of stability and performance of the system are considered so that a precise velocity control system for the hydraulic cylinder is achieved. In addition to the potentially high efficiency of this system, there is potential for low-cost, fast-response, and less complicated dynamics compared to other systems. The results show that the velocity control system can be designed so that the system is stable for all cases and with 0% overshoot and no oscillation depending on valve dynamics using the two-degrees-of-freedom controller for tracking the desired velocity.

Hybrid Position-Force Control of Climbing Parallel Robot Using Electrohydraulic Servo Actuators

2011 ◽  
Author(s):  
Ilka Banfield ◽  
Roque J. Saltaren ◽  
Lisandro J. Puglisi ◽  
Rafael Aracil Santonja
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Feedback Linearization ◽  
Virtual Work ◽  
Parallel Robot ◽  
Hydraulic Actuator ◽  
Identification Procedure ◽  
Control Loops ◽  
Real Effects ◽  
Control Scheme

An Hybrid Position-Force control scheme for hydraulic actuators is proposed for a Climbing Parallel Robot (CPR) based on a Stewart-Gough mechanism. The hydraulics actuators are modeled, and expressed as state-space variables. The parameter identification is based on experimental data and the box-grey identification procedure, using a minimization prediction error criterion. A cascade control strategy with feedback linearization and state estimation based on two control loops is used for each hydraulic actuator. The control strategy proposed for the hydraulic actuator is implemented in a real prototype, considering a position tracking task. The model of the actuators are included in the dynamic model of the CPR obtained via the virtual work formulation, which considers the thirteen bodies that composes the Stewart-Gough robot. The proposed controller is simulated and implemented on the CPR to test the limits of its performance and the real effects of friction. The results obtained from simulation and experiments are presented and discussed.

A neural network-based inversion method of a feedback linearization controller applied to a hydraulic actuator

2021 ◽  
Vol 43 (5) ◽  
Author(s):  
Fábio Augusto Pires Borges ◽  
Eduardo André Perondi ◽  
Mauro André Barbosa Cunha ◽  
Mario Roland Sobczyk
Keyword(s):  
Neural Network ◽  
Feedback Linearization ◽  
Inversion Method ◽  
Hydraulic Actuator

Force Control of a Hydraulic Actuator With a Neural Network Inverse Model

2021 ◽  
Vol 6 (2) ◽  
pp. 2814-2821
Author(s):  
Sung-Woo Kim ◽  
Buyoun Cho ◽  
Seunghoon Shin ◽  
Jun-Ho Oh ◽  
Jemin Hwangbo ◽  
...  
Keyword(s):  
Neural Network ◽  
Force Control ◽  
Inverse Model ◽  
Hydraulic Actuator

Non-Linear Control of Tilting-Quadcopter Using Feedback Linearization Based Motion Control

2014 ◽  
Author(s):  
Alireza Nemati ◽  
Manish Kumar
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Motion Control ◽  
Feedback Linearization ◽  
Linear Control ◽  
Control Architecture ◽  
Simulation Studies ◽  
Nonlinear Dynamic Model ◽  
Feedback Linearization Control ◽  
Arbitrary Trajectory

In this paper, a nonlinear control of a tilting rotor quadcopter is presented. The overall control architecture is divided into two sub-controllers. The first controller is based on the feedback linearization control derived from the dynamic model of the tilting quadcopter. This controls the pitch, roll, and yaw motions required for movement along an arbitrary trajectory in space. The second controller is based on two PD controllers which are used to control the tilting of the quadcopter independently along the pitch and the yaw directions respectively. The overall control enables the quadcopter to combine tilting and movement along a desired trajectory simultaneously. Simulation studies are presented based on the developed nonlinear dynamic model of the tilting rotor quadcopter to demonstrate the validity and effectiveness of the overall control system for an arbitrary trajectory tracking.

Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot

2019 ◽  
Vol 20 (1) ◽  
pp. 51-62
Author(s):  
Rajmeet Singh ◽  
Tarun Kumar Bera
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Obstacle Avoidance ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Bond Graph ◽  
Membership Functions ◽  
Current Position ◽  
Dc Motors

AbstractThis work describes design and implementation of a navigation and obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution of this paper can be summarized in the fact that single fuzzy logic controller can be used for navigation as well as obstacle avoidance (static, dynamic and both) for dynamic model of four-wheel mobile robot. The bond graph is used to develop the dynamic model of mobile robot and then it is converted into SIMULINK block by using ‘S-function’ directly from SYMBOLS Shakti bond graph software library. The four-wheel mobile robot used in this work is equipped with DC motors, three ultrasonic sensors to measure the distance from the obstacles and optical encoders to provide the current position and speed. The three input membership functions (distance from target, angle and distance from obstacles) and two output membership functions (left wheel voltage and right wheel voltage) are considered in fuzzy logic controller. One hundred and sixty-two sets of rules are considered for motion control of the mobile robot. The different case studies are considered and are simulated using MATLAB-SIMULINK software platform to evaluate the performance of the controller. Simulation results show the performances of the navigation and obstacle avoidance fuzzy controller in terms of minimum travelled path for various cases.

Dynamic Model of Dual Clutch Lever-Based Electromechanical Actuator

2011 ◽  
Author(s):  
Vladimir Ivanovic´ ◽  
Josˇko Deur ◽  
Milan Milutinovic´ ◽  
H. Eric Tseng
Keyword(s):  
Experimental Data ◽  
Dynamic Model ◽  
Model Validation ◽  
Bond Graph ◽  
Test Rig ◽  
Electromechanical Actuator ◽  
Actuator Dynamics ◽  
Operating Modes ◽  
Graph Modeling ◽  
Bond Graph Modeling

The paper presents a dynamic model of a dual clutch lever-based electromechanical actuator. Bond graph modeling technique is used to describe the clutch actuator dynamics. The model is parameterized and thoroughly validated based on the experimental data collected by using a test rig. The model validation results are used for the purpose of analysis of the actuator behavior under typical operating modes.

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