Control of a hydraulic hexapod for a Hardware-in-the-Loop axle test rig

2016 ◽  
Vol 64 (5) ◽  
Author(s):  
Andreas Kohlstedt ◽  
Simon Olma ◽  
Sarah Flottmeier ◽  
Phillip Traphöner ◽  
Karl-Peter Jäker ◽  
...  
Keyword(s):  
Force Control ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
State Observer ◽  
Hardware In The Loop ◽  
Test Rig ◽  
Plant Model ◽  
High Dynamics

AbstractThe present paper describes the controller design for a hydraulic hexapod which is used as an excitation unit for a Hardware-in-the-Loop axle test rig. This includes a description of the plant model, the subordinate drive controllers, the sliding mode state observer as well as the position control of the free hexapod. Measurements show the high dynamics of the position-controlled hexapod. The concept is extended to a hybrid position/force control to be used during axle test maneuvers. Its functionality is demonstrated by a measurement used for the identification of the axle kinematics.

Dynamic sliding mode position control of induction motors based load torque compensation using adaptive state observer

2018 ◽  
Vol 37 (6) ◽  
pp. 2249-2262
Author(s):  
Ali Karami-Mollaee ◽  
Hamed Tirandaz ◽  
Oscar Barambones
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
State Observer ◽  
Practical Implementation ◽  
Load Torque ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Adaptive State Observer ◽  
Dynamic Sliding Mode

Purpose The purpose of this paper is position control scheme for a servo induction motor (SIM) with uncertainty has been designed using a new observer issue and a dynamic sliding mode control (DSMC). Design/methodology/approach In DSMC, the chattering is removed due to the integrator (or a low-pass filter) which is placed before the input control of the plant. However, in DSMC, the augmented system has one dimension bigger than the actual system (if integrator is used) and then, the plant model should be completely known. To solve this problem in SIM, the use of a new adaptive state observer (ASO) is proposed. Findings The advantage of the proposed approach is to maintain the system controlled under the external load torque variations. Then, the load variations do not affect the motor positioning. Moreover, it is demonstrated that the observer error converges to zero based on the Lyapunov stability theory. Originality/value The knowledge of the upper bound for the system uncertainty is not necessary in an adaptive state observer, which is important in practical implementation. Simulation results are presented to demonstrate the performance of the proposed approach.

The Leveling Position Control of a Four-Axial Active Pneumatic Isolation System Using PWM-Driving Parallel Dual-On/Off Valves

2011 ◽  
Vol 110-116 ◽  
pp. 3176-3183 ◽  
Author(s):  
Mao Hsiung Chiang ◽  
Hao Ting Lin
Keyword(s):  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Isolation System ◽  
Adaptive Sliding Mode Controller ◽  
Novel Concept

This study aims to develop a leveling position control of an active PWM-controlled pneumatic isolation table system. A novel concept using parallel dual-on/off valves with PWM control signals is implemented to realize active control and to improve the conventional pneumatic isolation table that supported by four pneumatic cushion isolators. In this study, the cushion isolators are not only passive vibration isolation devices, but also pneumatic actuators in active position control. Four independent closed-loop position feedback control system are designed and implemented for the four axial isolators. In this study, on/off valves are used, and PWM is realized by software. Therefore, additional hardware circuit is not required to implement PWM and not only cost down but also reach control precision of demand. In the controller design, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to deal with the uncertainty and time-varying problems of pneumatic system. Finally, the experiments on the pneumatic isolation table system for synchronous position and trajectory tracking control, including no-load and loading conditions, and synchronous position control with master-slave method, are implemented in order to verify that the controller for each cushion isolator can realize good position and trajectory tracking performance.

Indirect force control in hardware-in-the-loop simulations for a vehicle axle test rig

2016 ◽  
Author(s):  
Simon Olma ◽  
Andreas Kohlstedt ◽  
Phillip Traphoner ◽  
Karl-Peter Jaker ◽  
Ansgar Trachtler
Keyword(s):  
Force Control ◽  
Hardware In The Loop ◽  
Test Rig

Sliding mode pressure controller for an electropneumatic brake: Part I—plant model and controller design

2018 ◽  
Vol 232 (5) ◽  
pp. 572-582 ◽  
Author(s):  
Zhuojun Luo ◽  
Mengling Wu ◽  
Jianyong Zuo
Keyword(s):  
Pulse Width Modulation ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Dead Zone ◽  
Plant Model ◽  
Knowledge Based ◽  
Discontinuous Nature ◽  
Reliable Knowledge ◽  
And Control

Instead of using knowledge-based controllers, which need a lot of experience and experimental data to form a reliable knowledge base, a model-based controller is proposed in this article based on a sliding mode control method to control the brake cylinder pressures of an electropneumatic brake on subway trains. The complicated structure of the electropneumatic brake is simplified, and an order-reduced nonlinear model of the plant is built. An equivalently continuous technique based on pulse width modulation is used to deal with the discontinuity of the plant model, which is derived from the discontinuous nature of On/Off valves. The nonlinear sliding mode controller is designed for air charging and discharging periods, respectively. Measures such as continuous approximation and control dead zone are introduced into the controller to improve control performance. This article concerns mainly about the theoretical part of the whole research. Plant parameter identification and controller tests are performed in a sequel article.

Discrete Sliding Mode Controller Design Based on the Suboptimal LQR Approach

2003 ◽  
Author(s):  
Wen-Chun Yu ◽  
Gou-Jen Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Performance Index ◽  
Control Algorithm ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Loop ◽  
External Loads

A systematic and simple discrete sliding mode controller design scheme based on the suboptimal approach is presented. The behaviors of the control system can be determined through a preferred performance index. The AC servomotor position control is obtained using only the q-axis voltage control loop. The proposed method is simulated and experimented to verify the capability of this new sliding mode control algorithm. Properties such as easy implementation, fast resonse, and robust to external loads are demonstrated.

scholarly journals Electrical Drives Control via Discrete-Time Variable Structure Systems with Sliding Mode

2020 ◽  
Vol 5 (1) ◽  
Author(s):  
Čedomir Milosavljević ◽  
Branislava Peruničić-Draženović ◽  
Senad Huseinbegović ◽  
Boban Veselić ◽  
Milutin P. Petronijević
Keyword(s):  
Mathematical Model ◽  
Discrete Time ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Variable Structure ◽  
Electrical Machine ◽  
Two Phase ◽  
Variable Structure Systems ◽  
Electrical Drives

Modern control techniques of electrical drives (EDs) use robust control algorithms. One of such algorithms is variable structure control (VSC) with sliding mode (SM). SM control needs more information on the controlled plant than the conventional PI(D) control. Valid mathematical model of the controlled plant is necessary for the SM controller design. Generalized mathematical model of two-phase electrical machine and its adaptation to direct current (DC) and induction motor (IM) are given in this paper, employed in the cascade control structure. Also, the basic SM control theory and discrete-time controller design approach, developed by the authors, are given. Finally, experimentally realized examples of speed and position control of DC and IM are given as an illustration of the efficiency of the promoted EDs controller design via discrete-time VSC.

scholarly journals Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Yu Zhang ◽  
Zheng Fang ◽  
Hongbo Li
Keyword(s):  
Extreme Learning Machine ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
System Modeling ◽  
External Disturbances ◽  
Neural Controller ◽  
Intelligent Controller ◽  
Quadrotor Helicopter ◽  
Learning Machine

Control of quadrotor helicopters is difficult because the problem is naturally nonlinear. The problem becomes more challenging for common model based controllers when unpredictable uncertainties and disturbances in physical control system are taken into account. This paper proposes a novel intelligent controller design based on a fast online learning method called extreme learning machine (ELM). Our neural controller does not require precise system modeling or prior knowledge of disturbances and well approximates the dynamics of the quadrotor at a fast speed. The proposed method also incorporates a sliding mode controller for further elimination of external disturbances. Simulation results demonstrate that the proposed controller can reliably stabilize a quadrotor helicopter in both agitated attitude and position control tasks.

Robust Yaw Stability Controller Design for a Light Commercial Vehicle Using a Hardware in the Loop Steering Test Rig

2007 ◽  
Author(s):  
Sinan Oncu ◽  
Sertac Karaman ◽  
Levent Guvenc ◽  
S. Server Ersolmaz ◽  
E. Serdar Ozturk ◽  
...  
Keyword(s):  
Commercial Vehicle ◽  
Controller Design ◽  
Hardware In The Loop ◽  
Test Rig ◽  
Light Commercial Vehicle ◽  
Yaw Stability
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