Design and development of novel decoupled two degree of freedom electro-hydraulic servo system for positioning heavy load

2018 ◽  
Vol 8 (2) ◽  
pp. 149
Author(s):  
Shailaja Kurode ◽  
Milind Chudgar ◽  
Ashpana Shiralkar
Keyword(s):  
Servo System ◽  
Degree Of Freedom ◽  
Design And Development ◽  
Heavy Load ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Two Degree Of Freedom

Simulations and Experiments on the Force Control of Hydraulic Servo System for Hydraulic Robots

2016 ◽  
Vol 826 ◽  
pp. 128-133 ◽  
Author(s):  
Hyo Gon Kim ◽  
Jong Won Lee ◽  
Yong Ho Choi ◽  
Jeong Woo Park ◽  
Jin Ho Suh
Keyword(s):  
Force Control ◽  
High Performance ◽  
Control Method ◽  
Servo System ◽  
Force Density ◽  
Hydraulic Actuator ◽  
Underwater Robots ◽  
Heavy Load ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

Because hydraulic actuator has higher power and force density, it is normally used in heavy load manipulator robots and industrial equipment which require high torque. Also, the hydraulic actuator is applied to underwater robots that need high performance maneuver in underwater operations. The force control has benefits to those kind of robots to ensure compliance with user or environment. However, the hydraulic actuator is difficult to control forces due to the non-linearity characteristic of the hydraulic servo system. In this paper, we propose a force control method with compensation of force derivative and natural velocity feedback. We also describe a method of applying it to the real system. In order to evaluate the effect of the proposed control method, the simulations and experiments were performed.

scholarly journals Estimated Reaction Force-Based Bilateral Control between 3DOF Master and Hydraulic Slave Manipulators for Dismantlement

Electronics ◽  
2018 ◽  
Vol 7 (10) ◽  
pp. 256 ◽  
Author(s):  
Karam Kallu ◽  
Jie Wang ◽  
Saad Abbasi ◽  
Min Lee
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Reaction Force ◽  
Servo System ◽  
Degree Of Freedom ◽  
Bilateral Control ◽  
Impedance Model ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

This paper proposes a novel bilateral control design based on an estimated reaction force without a force sensor for a three-degree of freedom hydraulic servo system with master–slave manipulators. The proposed method is based upon sliding mode control with sliding perturbation observer (SMCSPO) using a bilateral control environment. The sliding perturbation observer (SPO) estimates the reaction force at the end effector and second link without using any sensors. The sliding mode control (SMC) is used as a bilateral controller for the robust position tracking and control of the slave device. A bilateral control strategy in a hydraulic servo system provides robust position and force tracking between master and slave. The difference between the reaction force of the slave produced by the effect of the remote environment and the operating force applied to the master by the operator is expressed in the target impedance model. The impedance model is applied to the master and allows the operator to feel the reaction force from the environment. This research experimentally verifies that the slave device can follow the trajectory of the master device using the proposed bilateral control strategy based on the estimated reaction force. This technique will be convenient for three or more degree of freedom (DOF) hydraulic servo systems used in dismantling nuclear power plants. It is worthy to mention that a camera is used for visual feedback on the safety of the environment and workspace.

Robust Two-degree-of-freedom Control Based on H∞ Method for PMSM Drive System

2020 ◽  
Vol 13 (4) ◽  
pp. 496-506
Author(s):  
Qixin Zhu ◽  
Lei Xiong ◽  
Hongli Liu ◽  
Yonghong Zhu ◽  
Guoping Zhang
Keyword(s):  
Control System ◽  
Control Theory ◽  
Position Control ◽  
Dynamic Performance ◽  
Servo System ◽  
Degree Of Freedom ◽  
Trade Off ◽  
Standard Design ◽  
Position Controller ◽  
Two Degree Of Freedom

Background: The conventional method using one-degree-of-freedom (1DOF) controller for Permanent Magnet Synchronous Motor (PMSM) servo system has the trade-off problem between the dynamic performance and the robustness. Methods: In this paper, by using H∞ control theory, a novel robust two-degree-of-freedom (2DOF) controller has been proposed to improve the position control performance of PMSM servo system. Using robust control theory and 2DOF control theory, a H∞ robust position controller has been designed and discussed in detail. Results: The trade-off problem between the dynamic performance and robustness which exists in one-degree-of-freedom (1DOF) control can be dealt with by the application of 2DOF control theory. Then, through H∞ control theory, the design of robust position controller can be translated to H∞ robust standard design problem. Moreover, the control system with robust controller has been proved to be stable. Conclusion: Further simulation results demonstrate that compared with the conventional PID control, the designed control system has better robustness and attenuation to the disturbance of load impact.

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.

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.

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