Development of a Quadruped Walking Robot to Work on Slopes, TITAN XI : 3rd Report : Design of Hydraulic Servo System for Legs and Its Basic performance

2004 ◽  
Vol 2004 (0) ◽  
pp. 158-159
Author(s):  
T Doi ◽  
R Hodoshima ◽  
Y Fukuda ◽  
S Hirose ◽  
T Okamoto ◽  
...  
Keyword(s):  
Servo System ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
Basic Performance ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Report Design

Study of Hydraulic Servo System Based on Fuzzy Sliding Mode Algorithm

2013 ◽  
Vol 753-755 ◽  
pp. 2674-2678
Author(s):  
Kun Yang ◽  
Cai Jun Liu ◽  
Shu Min Liu
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
Servo System ◽  
Time Varying ◽  
External Interference ◽  
System A ◽  
Hydraulic Servo ◽  
Fuzzy Sliding Mode ◽  
Hydraulic Servo System ◽  
Position Servo

Based on the situation that the hydraulic position servo system is easily influenced by the external interference and the parameters of which are different with time-varying, the fuzzy control can soften the buffeting and the sliding algorithm has no the same problems as the hydraulic position servo system, a brandly-new fuzzy sliding control algorithm is designed. In the simulation process, within the parameters of simulated time-varying and outside strong interference, the results show that the hydraulic servo system based on fuzzy sliding mode control algorithm has a greater resistance to internal and external interference and time-varying parameters.

Adaptive Control of the Electro-Hydraulic Servo-System with External Disturbances

2012 ◽  
Vol 15 (4) ◽  
pp. 1065-1080 ◽  
Author(s):  
Piotr Wos ◽  
Ryszard Dindorf
Keyword(s):  
Adaptive Control ◽  
Servo System ◽  
External Disturbances ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

The Modeling and Control of the Hydraulic Servo System by Using On-Off Valve

2000 ◽  
Author(s):  
Xuanyin Wang
Keyword(s):  
Servo System ◽  
Mathematic Model ◽  
Hydraulic Cylinder ◽  
Servo Control ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Hydraulic Servo ◽  
Self Tuning ◽  
Hydraulic Servo System ◽  
And Control

Abstract This paper researches on the hydraulic servo system by using ordinary on-off valves. The mathematic model of an asymmetric hydraulic cylinder servo control system is built, and its characteristic is analysed here. To reduce the static and dynamic characteristic differences between forward and reverse motion of asymmetric cylinder, and improve system’s performance, a self-tuning linear quadratic gaussian optimum controller (SLQG) is designed successful. In the end, an asymmetric hydraulic cylinder servo system of paint robot is researched. The result shows that the above method is effective.

scholarly journals Improved Steady Error of an Electro-Hydraulic Servo System with a Dead Zone and Identification of the Element Time Constants.

1994 ◽  
Vol 25 (4) ◽  
pp. 549-555
Author(s):  
Shizurou KONAMI ◽  
Takao NISHIUMI ◽  
Kuniyuki YONEMOTO
Keyword(s):  
Dead Zone ◽  
Servo System ◽  
Time Constants ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

System identification and robust position control for electro-hydraulic servo system using hybrid model predictive control

2017 ◽  
Vol 24 (18) ◽  
pp. 4145-4159 ◽  
Author(s):  
Hai-Bo Yuan ◽  
Hong-Cheol Na ◽  
Young-Bae Kim
Keyword(s):  
System Identification ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Position Control ◽  
Servo System ◽  
Model Parameters ◽  
Integral Control ◽  
Hybrid Controller ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

This paper examined system identification using grey-box model estimation and position-tracking control for an electro-hydraulic servo system (EHSS) using hybrid controller composed of proportional-integral control (PIC) and model predictive control (MPC). The nonlinear EHSS model is represented by differential equations. We identify model parameters and verify their accuracy against experimental data in MATLAB to evaluate the validity of this mathematical model. To guarantee improved performance of EHSS and precision of cylinder position, we propose a hybrid controller composed of PIC and MPC. The controller is designed using the Control Design and Simulation module in the Laboratory Virtual Instrumentation Engineering Workbench (LabVIEW). A LabVIEW-based experimental rig is developed to apply the proposed controller in real time. Then, the validity and performance superiority of the hybrid controller were confirmed by comparing them with the MPC and PIC results. Results of real-life experiments show improved robustness and dynamic and static properties of EHSS.

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