Research on the Adaptive Zero Phase Error Tracking and Proportion Composite Controller of Continuous Rotary Electro-Hydraulic Servo Motor

2014 ◽  
Vol 620 ◽  
pp. 443-448
Author(s):  
Xiao Jing Wang ◽  
Gui Tao Sun ◽  
Chang Fu Xian ◽  
Song Li ◽  
Jian Cao ◽  
...  
Keyword(s):  
Phase Error ◽  
Mathematic Model ◽  
Servo Motor ◽  
Tracking Accuracy ◽  
Composite Control ◽  
Hydraulic Servo ◽  
Working Principle ◽  
Periodic Signals ◽  
Rotary Motor ◽  
Zero Phase

According to the poor tracking accuracy of periodic signals for continuous rotary electro-hydraulic servo motor, the mathematic model of the electro-hydraulic position servo system of the continuous rotary motor was established, a composite control strategy combining with proportion controller and adaptive zero phase error tracking controller was designed. The working principle of composite strategy was given, and the composite strategy was verified on Co-simulation of MATLAB and AMESim platform. The simulation result shows that the amplitude attenuation and phase delay of the tracking curve which excitated by the sinusoidal signal 0.5degree and 10Hz for continuous rotary motor is less than 1.2% and 1.08°respectively, and the efficiency of the composite controller is verified through simulation.

Continuous Rotary Motor Electro-Hydraulic Servo System Based on the Zero Phase Error Tracking Controller

2011 ◽  
Vol 121-126 ◽  
pp. 3205-3209
Author(s):  
Xiao Jing Wang ◽  
Jian Ying Li ◽  
Bo Wu ◽  
Jun Peng Shao
Keyword(s):  
Frequency Response ◽  
Phase Error ◽  
Tracking Error ◽  
Servo System ◽  
Servo Motor ◽  
Tracking Controller ◽  
Hydraulic Servo ◽  
Response Performance ◽  
Rotary Motor ◽  
Zero Phase

In order to suppress the friction and leakage interference of continuous rotary electro-hydraulic servo motor, make the motor tracking the periodic signals with high accuracy, and improve the high frequency response performance of continuous rotary electro-hydraulic servo motor, this paper established the mathematic model of the electro-hydraulic position servo system of the continuous rotary motor, and adopted the controlling method based on the zero phase error tracking controller to suppress the interference. Through the simulation, the result confirms that the zero phase error tracking control method decreases the tracking error of the system, increases the robust performance of the system and improves the frequency response performance of continuous rotary electro-hydraulic servo motor. This method is simple and feasible.

Continuous Rotary Motor Electro-Hydraulic Servo System Based on Discrete Sliding Mode Controller

2010 ◽  
Vol 156-157 ◽  
pp. 1537-1540 ◽  
Author(s):  
Xiao Jing Wang ◽  
Jun Peng Shao ◽  
Ji Hai Jiang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Servo System ◽  
Mathematic Model ◽  
Sliding Mode Controller ◽  
Servo Motor ◽  
Compound Control ◽  
Hydraulic Servo ◽  
Rotary Motor

In order to suppress the periodic interference of continuous rotary electro-hydraulic servo motor, make the motor tracking periodic signals more accurate, and improve the influence of friction interference on the performance of continuous rotary electro-hydraulic servo motor, mathematic model of continuous rotary motor electro-hydraulic position servo system was established, and the compound control method based on the discrete sliding mode controller was adopted to suppress the friction interference. Through the simulation, the result confirms that the discrete sliding mode controller decreases the tracking error of the system, increases the system robust performance and improves performance of continuous rotary electro-hydraulic servo motor. This method is simple and feasible.

Rollback and Compensation for an Easy Control Hydraulic Servo Joint

2013 ◽  
Vol 312 ◽  
pp. 662-666
Author(s):  
Xiao Hong Jin ◽  
Xian Bao Xiang ◽  
Lin Jiang ◽  
Qin Fen Miao
Keyword(s):  
Mathematic Model ◽  
Basic Structure ◽  
Dynamic Responses ◽  
Hydraulic Servo ◽  
Working Principle ◽  
Reconfigurable Robot ◽  
Input Element ◽  
And Control ◽  
Double Orifice ◽  
Control Accuracy

The easy control hydraulic servo joint is a key element for a reconfigurable robot and its response and control accuracy determine the performance of the robot. With the stepping motor as the input element the main parts of joint includes a rotational valve with the double orifice and the single-vane actuator. The basic structure and the working principle of joint are introduced. The mathematic model is established and the dynamic responses are analysed by using the digit simulation. From the results of simulation, a phenomenon of rollback in the process of response of joint is observed. With the simulation, the relationships between the rollback and parameters of structure are discussed. A digit PID controller is employed to reduce the effect of rollback to a great extent.

Zero Phase Robust Control of XY Table Linear Servo System

2013 ◽  
Vol 419 ◽  
pp. 713-717
Author(s):  
Xi Mei Zhao ◽  
Ming Ming Jiang ◽  
Hong Yi Li ◽  
Hao Liu
Keyword(s):  
Disturbance Observer ◽  
Position Control ◽  
Control Method ◽  
Phase Error ◽  
Tracking Error ◽  
Servo System ◽  
Direct Drive ◽  
Tracking Accuracy ◽  
Control Scheme ◽  
Zero Phase

For direct drive XY table servo system, position control is designed. Considering the error which is caused by the disturbance of the system, friction factor and so on. The control method combing the zero phase error tracking controller (ZPETC) with the disturbance observer (DOB) is adopted. The system tracking error is reduced by adopting ZPETC, and through influences of disturbance to the system is diminished by the disturbance observer. Thus the tracking accuracy and robustness of the system are improved. Simulation results show that this control scheme is effective. It can obviously improve the accuracy of the system.

Tracking of a Target Payload via a Combination of Input Shaping, Zero Phase Error Tracking Control, and Fuzzy Logic

2016 ◽  
Author(s):  
Robert Schmidt ◽  
Matthew Begneaud ◽  
Joshua Vaughan
Keyword(s):  
Fuzzy Logic ◽  
Tracking Control ◽  
Phase Error ◽  
Input Shaping ◽  
Membership Functions ◽  
Tracking Accuracy ◽  
Autonomous Surface Vehicle ◽  
Tracking Controller ◽  
Initial Move ◽  
Zero Phase

During crane operation, the task of retrieval and deployment of payloads can be partitioned into two components: the initial move towards the target or deployment location and the retrieval or deployment of the payload. If the payload is not stationary, as is the case in the retrieval of a sea-going vessel, a third component, tracking, must be included. The target payload in this research is an Autonomous Surface Vehicle (ASV) primarily used for surveying. This paper studies the transition between the initial move towards the payload and the initialization of tracking. Input Shaping is used to limit residual vibration caused by the initial move to the ASV. A set of Fuzzy Logic membership functions are then used to transition from the initial move to the tracking portion of the retrieval process. These membership functions map position and velocity error to a gain that is applied to the tracking controller. As the gain increases, the contribution of the tracking controller input is increased. Zero Phase Error Tracking Control is utilized for accurate tracking of the target payload. Through a combination of these control methods, the tracking accuracy is improved.

Synchronous Controller for Dual Servo Motor in Servo Press

2014 ◽  
Vol 494-495 ◽  
pp. 1175-1181 ◽  
Author(s):  
Shang Liang Chen ◽  
Dinh Hoai Nam ◽  
Nguyen Van Thanh
Keyword(s):  
Control System ◽  
Control Structure ◽  
Phase Error ◽  
Open Loop ◽  
Feedback Controller ◽  
Servo Motor ◽  
Motion Error ◽  
Servo Press ◽  
Position Controller ◽  
Zero Phase

This study shows the results of double servomotors synchronization controller (SC) for Mirco-precision servo press. Two systems are used in this study, one is the master motor and another is the slave motor. Each system is designed separately. Also, it is necessary to use the synchronous controller to minimize the synchronization error and the motion command is transmitted simultaneously to two motors. The control system for the master motor includes a feedback controller (FB) and a zero phase error tracking controller (ZPET). For the slave motor, only velocity is controlled. The feedback controller is a cascade control structure, velocity and position controller. It can make the output follows the command. In order to reduce synchronized motion error, two servomotors are synchronized by the SC. The results of simulation reveal that the performance of the overall control system is improved compare to open loop, the synchronous position error between two sliders were less than 4μmm.

Tracking Control of Non-Minimum Phase Systems Using Filtered Basis Functions: A NURBS-Based Approach

2015 ◽  
Author(s):  
Molong Duan ◽  
Keval S. Ramani ◽  
Chinedum E. Okwudire
Keyword(s):  
Tracking Control ◽  
Phase Error ◽  
Approximate Model ◽  
Basis Functions ◽  
Minimum Phase ◽  
Tracking Errors ◽  
Model Inversion ◽  
B Spline ◽  
Phase Systems ◽  
Zero Phase

This paper proposes an approach for minimizing tracking errors in systems with non-minimum phase (NMP) zeros by using filtered basis functions. The output of the tracking controller is represented as a linear combination of basis functions having unknown coefficients. The basis functions are forward filtered using the dynamics of the NMP system and their coefficients selected to minimize the errors in tracking a given trajectory. The control designer is free to choose any suitable set of basis functions but, in this paper, a set of basis functions derived from the widely-used non uniform rational B-spline (NURBS) curve is employed. Analyses and illustrative examples are presented to demonstrate the effectiveness of the proposed approach in comparison to popular approximate model inversion methods like zero phase error tracking control.

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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