scholarly journals Performance Investigation of Hydraulic Actuator Based Mass Lift System using MPC and LQR Controllers

2020 ◽  
Author(s):  
mustefa jibril ◽  
Messay Tadese ◽  
Eliyas Alemayehu
Keyword(s):  
White Noise ◽  
Input Signal ◽  
Sine Wave ◽  
Hydraulic Actuator ◽  
Large Power ◽  
Output Displacement ◽  
Lqr Controller ◽  
Actuator System ◽  
Simulation Results ◽  
Noise Input

A hydraulic actuator is a system that can provide a large power amplification in industries and factories. In this paper, mass lifter hydraulic actuator system to a desired displacement is designed using optimal control theory. MPC and LQR controllers are used to design and improve the performance of the hydraulic actuator. The hydraulic actuator system is linearized using Taylor series linearization method and designed using Matlab/Simulink tool. Comparison of the hydraulic actuator with MPC and LQR controllers using three desired output displacement signals (step, sine wave and white noise) is done and simulation results have been analyzed successfully. For the desired step input signal, the hydraulic actuator system with MPC controller lower rise and settling times with small percentage overshoot as compared to the hydraulic actuator system with LQR controller and for the desired sine wave signal, the hydraulic actuator system with MPC controller almost track the desired sine wave input signal correctly as compared to the hydraulic actuator system with LQR controller. While for the desired white noise input signal, the hydraulic actuator system with MPC controller have tried to track the desired white noise input signal with small variation in amplitude as compared to the hydraulic actuator system with LQR controller. Finally the comparative simulation results prove the effectiveness of the proposed hydraulic actuator system with MPC controller.

Application of Draw Wire Sensor in the Tracking Control of An Electro Hydraulic Actuator System

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Sazilah Salleh ◽  
Mohd Fua’ad Rahmat ◽  
Siti Marhainis Othman ◽  
Hafilah Zainal Abidin
Keyword(s):  
System Identification ◽  
Input Signal ◽  
Low Cost ◽  
Minimum Variance ◽  
Test Bed ◽  
Hydraulic Actuator ◽  
Output Displacement ◽  
Identification Technique ◽  
Self Tuning ◽  
Actuator System

A draw wire sensor is considered as a contact measurement method. It is normally used to measure the speed and position of a system. A draw wire sensor is convenient especially when a low cost solution and a small sensor dimension are desired. The objective of this paper is to describe the application of draw wire sensor in control tracking of electro hydraulic actuator system. This research started with the modelling of electro hydraulic actuator system by using system identification approach. During the data taking process, an experiment is conducted using electro hydraulic actuator test bed. A draw wire sensor is attached to the load of electro hydraulic actuator system to measure the output displacement when the system is injected with the desired input signal. Draw wire sensor is measuring the output displacement in millimeters and then the signal is converted to voltage reading regarding to the given input signal. The input and output signal is collected and is used in system identification technique to obtain the best mathematical model that can represent the electro hydraulic actuator system. Once a model is obtained, a Self Tuning Controller (STC) with Generalize Minimum Variance Control (GMVC) strategy is designed to control the tracking performance of the electro hydraulic actuator system. The designed controller is tested in simulation and experiment mode. Then, the output result from both modes is compared. The results show that the output performance from both modes are almost similar. Thus, this research had shown that a draw wire sensor has a significant role in capturing an accurate output data from electro hydraulic actuator system even with or without the controller.

Research on Very Fast Transient over-Voltages Distribution in Large Power Transformer Windings

2012 ◽  
Vol 433-440 ◽  
pp. 7287-7292
Author(s):  
You Hua Gao ◽  
Zeng Feng Lai ◽  
Xiao Ming Liu ◽  
Guo Wei Liu ◽  
Ye Wang
Keyword(s):  
Power Transformer ◽  
Simulation Software ◽  
Large Power ◽  
Telegraph Equations ◽  
Backward Differentiation Formulas ◽  
Space Discretization ◽  
Simulation Results ◽  
Fast Transient ◽  
The Time Domain ◽  
Differentiation Formulas

To analyze the transient response of transformer windings under very fast transient over-voltage (VFTO), multi-conductor transmission line (MTL) model based on the representation of transformer windings by its individual turns are established. Space discretization is needed for solving the time-domain telegraph equations of MTL. To calculate the voltage distributions along transformer windings, through combining the compact finite difference (CFD) theory and the backward differentiation formulas (BDF). Simulation software ATP is introduced, and the simulation results demonstrate that the proposed approach is feasible.

scholarly journals Design and simulate of LQR-Fuzzy controller for unicycle robot with double flywheels

2018 ◽  
Vol 192 ◽  
pp. 02001 ◽  
Author(s):  
Surachat Chantarachit
Keyword(s):  
Angular Momentum ◽  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Taylor Series Expansion ◽  
Lagrange Equations ◽  
Main Structure ◽  
Structure Control ◽  
Controller Gain ◽  
Lqr Controller ◽  
Simulation Results

This research is focus on design and simulate unicycle robot with double flywheels model with LQR-Fuzzy controller. Roll balancing torque is generated by gyroscopic effect. Pitch balancing torque is applied by inverted pendulum concept. To control the heading of the robot, the angular momentum from both flywheel is applied to control this. The robot model is based on Euler-Lagrange equations. The non-linear model is linearization by Taylor series expansion. The simulation results conducted by MATLAB/Simulink. LQR-Fuzzy is combination algorithm between LQR and Fuzzy controller. The main structure control is the LQR controller and use the Fuzzy controller to adjust the close loop controller gain. The simulation results is simulated and compared with conventional LQR.

Hydraulic Actuator Tuning in the Control of a Rotating Flexible Beam Mechanism

1995 ◽  
Author(s):  
Michael J. Panza ◽  
Roger W. Mayne
Keyword(s):  
Hydraulic Resistance ◽  
System Model ◽  
Flexible Beam ◽  
Hydraulic Actuator ◽  
Control Effort ◽  
Actuation System ◽  
Wide Range ◽  
Position Feedback ◽  
Simulation Results ◽  
Beam Mechanism

Abstract The end point position and vibration control of a rotating flexible beam mechanism driven by a hydraulic cylinder actuator is considered. An integrated nonlinear system model comprised of beam dynamics, hydraulic actuator, control valves, and control scheme is presented. Control based on simple position feedback along with a hydraulic actuation system tuned to suppress beam vibration over a wide range of angular motion is investigated. For positioning to small to moderate mechanism angles, a linear system model with the actuator tuned for good open loop performance is developed. Actuator tuning is accomplished by varying the system hydraulic resistance according to a dimensionless parameter defining the interaction between the actuator and flexible beam. Simulation results for a closed loop system indicate that this simple tuned control provides comparable performance and requires less control effort than an untuned system with a more complex state feedback optimal controller. To compensate for geometric nonlinearities that cause instability when positioning to large mechanism angles, an active actuator tuning scheme based on continuous variation of hydraulic resistance is proposed. The active variable resistance controller is combined with simple position feedback and designed to provide a constant dimensionless actuator-flexible beam interaction parameter throughout the motion. Simulation results are presented to show the stabilizing effect of this control strategy.

Identification of electro-hydraulic actuator system using commensurate fractional-order

2015 ◽  
Author(s):  
Nuzaihan Mhd Yusof ◽  
Norlela Ishak ◽  
Ramli Adnan ◽  
Mazidah Tajjudin ◽  
Mohd Hezri Fazalul Rahiman
Keyword(s):  
Fractional Order ◽  
Hydraulic Actuator ◽  
Actuator System

Modeling, Experimentation, and Simulation of an Air-Over-Hydraulic Brake System

2009 ◽  
Vol 131 (3) ◽  
Author(s):  
Xicheng Xiong ◽  
Jianhua Wei ◽  
Jian Chen
Keyword(s):  
Experimental Data ◽  
System Modeling ◽  
Brake System ◽  
Hydraulic Actuator ◽  
Similar System ◽  
Modeling And Analysis ◽  
Construction Machinery ◽  
Simulation Results ◽  
Mechanical Dynamics ◽  
Development And Validation

This paper deals with the development and validation of an analytical dynamic model of an air-over-hydraulic (AOH) brake system that is widely used on loaders. The AOH system is broken into five simple and cascaded subsystems, pneumatic circuit, air-hydraulic actuator, brake line, wheel cylinder, and disk brake. Pneumatic, hydraulic, and mechanical dynamics are taken care of in each subsystem. The determination of model coefficients is introduced in detail. Many experiments are performed on an experimental setup of the real AOH system on a loader and the experimental data are compared with the simulation results. Preliminary analysis shows that the simulation results are in good agreement with the experimental data. Other researchers in the areas of brake systems in construction machinery would find the model useful for similar system modeling and analysis

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