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.

Lyapunov Based Adaptive Control Method for Hydraulic Servo Drive

2016 ◽  
Author(s):  
Hamid Roozbahani ◽  
Konstantin Frumkin ◽  
Heikki Handroos
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Environmental Changes ◽  
Control Method ◽  
Servo System ◽  
Adaptive Controller ◽  
Servo Drive ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Adaptive Control Algorithm

Adaptive control systems are one of the most significant research directions of modern control theory. It is well known that every mechanical appliance’s behavior noticeably depends on environmental changes, functioning-mode parameter changes and changes in technical characteristics of internal functional devices. An adaptive controller involved in control process allows reducing an influence of such changes. In spite of this such type of control methods is applied seldom due to specifics of a controller designing. The work presented in this paper shows the design process of the adaptive controller built by Lyapunov’s function method for a hydraulic servo system. The modeling of the hydraulic servo system were conducting with MATLAB® software including Simulink® and Symbolic Math Toolbox™. In this study, the Jacobi matrix linearization of the object’s mathematical model and derivation of the suitable reference models based on Newton’s characteristic polynomial were applied. In addition, an intelligent adaptive control algorithm and system model including its nonlinearities was developed to solve Lyapunov’s equation. Developed algorithm works properly and considered plant is met requirement of functioning with. The results shows that the developed adaptive control algorithm increases system performance in use devices significantly and might be used for correction of system’s behavior and dynamics.

scholarly journals Design, Mathematical Modeling and Force Control for Electro-Hydraulic Servo System With Pump-Valve Compound Drive

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 171988-172005
Author(s):  
Bin Yu ◽  
Qixin Zhu ◽  
Jing Yao ◽  
Junxiao Zhang ◽  
Zhipeng Huang ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
Force Control ◽  
Servo System ◽  
Hydraulic Servo ◽  
Pump Valve ◽  
Hydraulic Servo System

Extension Control Research of Pump-Control Electro-Hydraulic Servo System

2011 ◽  
Vol 80-81 ◽  
pp. 917-921 ◽  
Author(s):  
Hong Bo Zheng ◽  
You Song Sun ◽  
Mian Li ◽  
Can Biao Xian
Keyword(s):  
Intelligent Control ◽  
Control Algorithm ◽  
Control Method ◽  
Servo System ◽  
Information Transformation ◽  
Control Research ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Basic Concepts ◽  
Dynamic Quality

The extension control is a newly developed intelligent control method used to solve control problem from information transformation presented based on extenics. Firstly some basic concepts about extension control were introduced, on this basis, the extension control algorithm was improved and the extension control was applied to pump-control electro-hydraulic servo system. The simulation and experimental results show that the pump-control electro-hydraulic servo system based on extension control has such advantages as quick and stable response, simple parameters determination and excellent dynamic quality, with a better prospect for development.

Research on Position / Velocity Synergistic Control of Electro Hydraulic Servo System

2020 ◽  
Vol 13 (4) ◽  
pp. 366-377 ◽  
Author(s):  
Bingwei Gao ◽  
Yongtai Ye
Keyword(s):  
Position Control ◽  
Control Method ◽  
Control Object ◽  
Servo System ◽  
Control Effect ◽  
Positioning Accuracy ◽  
Feed Forward ◽  
Neural Network Controller ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

Background: In some applications, the requirements of electro-hydraulic servo system are not only precise positioning, but also the speediness capability at which the actuator is operated. Objective: In order to enable the system to achieve rapid start and stop during the work process, reduce the vibration and impact caused by the change of the velocity, at the same time improve the positioning accuracy, and further strengthen the stability and the work efficiency of the system, it is necessary to perform the synergistic control between the position and the velocity of the electrohydraulic servo system. Methods: In order to achieve synergistic control between the position and the velocity, a control method of velocity feed-forward and position feedback is adopted. That is, based on the position control, the speed feed-forward is added to the outer loop as compensation. The position control adopts the PID controller, and the velocity control adopts the adaptive fuzzy neural network controller. At the same time, the position and velocity sensors are used for feedback, and the deviation signals between the position and the velocity obtained by superimposing the feedback are used as the final input of the control object, thereby controlling the whole system. Results: The control effect of the designed position / velocity synergistic controller is verified by simulation and experiment. The results show that the designed controller can effectively reduce the vibration and impact caused by the change of the velocity, and greatly improve the response velocity and the position accuracy of the system. Conclusion: The proposed method provides technical support for multi-objective synergistic control of the electro-hydraulic servo system, completes the requirements of multi-task operation, improves the positioning accuracy and response velocity of the electro-hydraulic servo system, and realizes the synergy between the position and the velocity. In this article, various patents have been discussed.

A method of designing a robust force controller of a water-hydraulic servo system

2002 ◽  
Vol 216 (2) ◽  
pp. 135-141 ◽  
Author(s):  
K Sanada
Keyword(s):  
Control Theory ◽  
Force Control ◽  
Weighting Function ◽  
Servo System ◽  
Plastic Layer ◽  
Robust Controller ◽  
The Press ◽  
Hydraulic Servo ◽  
Water Hydraulic ◽  
Hydraulic Servo System

Robust force control of a water-hydraulic servo system is discussed. The system treated in this paper is a model of a moulding press used for a fabrication process of large-scale integration packages. The whole surface of a wafer is covered with a thin plastic layer by the press. The performance of force control is important to obtain sufficient quality. The press is driven by a ram cylinder and a water-hydraulic servo valve. Considering the uncertainty caused by the flow characteristics of the valve in the overlap region and the mechanical stiffness of the press, a method of designing a robust force controller is proposed by applying H∞ control theory. Qualitative evaluation of modelling error is the key to the design of the robust controller. The performance of the robust controller is examined using an experimental water-hydraulic servo system set-up. It is illustrated how the system responses are influenced by the weighting function parameters of H∞ control theory.

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