Hydraulic System Modeling and Motion Control of Demotion Robots Working Equipment

2013 ◽  
Vol 347-350 ◽  
pp. 588-593
Author(s):  
Yu Wan Cen ◽  
Ya Fen Jiang ◽  
Han Dong Zhang
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
System Modeling ◽  
Flow Equation ◽  
Equilibrium Equations ◽  
Proportional Valve ◽  
Hydraulic System Modeling ◽  
Working Device ◽  
Force Equilibrium ◽  
Self Adaptive

Based on the electro-hydraulic proportional system of a demolition robot working device, a simplified mathematical model was established by analyzing dynamic characteristics of the electro-hydraulic proportional valve, flow equation, the continuity equation and force equilibrium equations, and the fuzzy self-adaptive PID controller was designed to realize position control of working equipment. The simulations reveal that, compared with traditional PID, the fuzzy self-adaptive PID controller has these advantages such as smaller overshoot, good dynamic response and steady state performance.

scholarly journals Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Ji Min Lee ◽  
Sung Hwan Park ◽  
Jong Shik Kim
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Position Control ◽  
Sliding Mode ◽  
System Modeling ◽  
Modeling Error ◽  
Load Disturbance ◽  
Control Scheme ◽  
Position Controller ◽  
System Uncertainties

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

Pneumatic Proportional Position Control System Based on BP Neural Networks

2004 ◽  
Vol 471-472 ◽  
pp. 528-531
Author(s):  
Y.J. Liu ◽  
X.Z. Kong ◽  
Z.W. Li
Keyword(s):  
Neural Networks ◽  
Working Conditions ◽  
Pid Controller ◽  
Position Control ◽  
Control Method ◽  
Back Propagation ◽  
Positioning System ◽  
Proportional Valve ◽  
Rod System ◽  
Position Control System

A PID controller based on Back-propagation neural networks is presented and used to the pneumatic proportional positioning system in this paper. A proportional valve-cylinder without rod system for buffering and positioning, which is controlled by microcomputer, is designed and completed in this paper. The experimental results show that the system gains self-adaptability because of the application of this control method. And the buffering and positioning of the cylinder can be implemented under different working conditions.

Servo Pneumatic Position Control Using Fuzzy PID Gain Scheduling

2004 ◽  
Vol 126 (2) ◽  
pp. 376-387 ◽  
Author(s):  
Z. Situm ◽  
D. Pavkovic ◽  
B. Novakovic
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Scheduling Algorithm ◽  
Design Procedure ◽  
Gain Scheduling ◽  
Servo Drive ◽  
Proportional Valve ◽  
Precise Position ◽  
Experimental Implementation ◽  
Robust Control System

In this paper, a design procedure and experimental implementation of a PID controller is presented. The PID controller is tuned according to damping optimum in order to achieve precise position control of a pneumatic servo drive. It is extended by a friction compensation and stabilization algorithm in order to deal with friction effects. In a case of supply pressure variations, more robust control system is needed. It is implemented by extending the proposed PID controller with friction compensator with the gain scheduling algorithm, which is provided by means of fuzzy logic. The effectiveness of proposed control algorithms is experimentally verified on an industrial cylindrical rodless actuator controlled by a proportional valve.

scholarly journals Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Nenad Muškinja ◽  
Matej Rižnar
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Design Approach ◽  
Control Loop ◽  
Real Time Control ◽  
Laboratory Setup ◽  
Time Control ◽  
Beam System ◽  
Ball Velocity ◽  
Ball And Beam System

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

Fuzzy PID and Contour Tracking as Applied to Position Control of a Pneumatic Gantry Robot

2013 ◽  
Author(s):  
James Waldie ◽  
Brian Surgenor ◽  
Behrad Dehghan
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Fuzzy Controller ◽  
Fuzzy Pid ◽  
Pid Algorithm ◽  
Fuzzy Pid Controller ◽  
Future Work ◽  
Fuzzy Pd ◽  
Gantry Robot ◽  
Fuzzy Adaptive

In previous work, the performance of PID plus an adaptive neural network compensator (ANNC) was compared with the performance of a novel fuzzy adaptive PID algorithm, as applied to position control of one axis of a pneumatic gantry robot. The fuzzy PID controller was found to be superior. In this paper, a simplified non-adaptive fuzzy algorithm was applied to the control of both axes of the robot. Individual step results are first shown to confirm the validity of the simplified fuzzy PID controller. The fuzzy controller is then applied to a sinuosoidal tracking problem with and without a fuzzy PD tracking algorithm. Initial results are considered to be very promising. Future work requires developing an adaptive version of the controller in order to demonstrate robustness relative to changing tracking frequencies and changing supply pressures.

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