The Research of Electro-Hydraulic Proportional Control on Copper Anode Lifting Platform

This paper introduces the structure and working principle of the designed copper anode lifting platform. According to the actual working conditions and the structure of the lifting device, hydraulic system of electro-hydraulic proportional synchronous lifting device is designed and its working principle is analyzed. This paper takes the electro-hydraulic synchronization system as a research subject, whose mathematic model is established. To solve the synchronization accuracy of the hydraulic cylinder movement in the lifting process, a model reference adaptive controller is designed which is based on hyperstability theory. Both system simulation models of traditional PID control and adaptive control are established respectively in the software of Matlab/Simulink. Through the simulation result we can learn that adaptive control is batter than the PID control. Two hydraulic cylinders synchronization error is less than 0.02mm.

The error-based minimal control synthesis algorithm with integral action

This paper presents a new form of the direct adaptive minimal control synthesis (MCS) algorithm. As its name suggests, the error-based minimal control synthesis with integral action (Er-MCSI) algorithm is solely driven by error signals that are generated within the closed-loop system, and contains an explicit integral gain term. The purpose of this new structure is, respectively, to remove the problem of variable adaptive effort with changes in the operating set point, and to remove gain ‘wind-up’ effects due to plant disturbances and signal offsets. The core of this paper contains a proof of stability for Er-MCSI, based on hyperstability theory, together with supporting simulation and implementation studies.

Adaptive Control of Robot Manipulators Using a Popov Hyperstability Approach

A general adaptive control approach of robot manipulators using Popov hyperstability is proposed in this paper. The manipulator adaptive control problem is first formulated in a form suitable for the application of hyperstability theory. The adaptive control law is general, and most of the adaptive control laws that have been proposed are special forms of this adaptive control law. The adaptive controller takes advantage of the flexibility in the choice of the adaptive parameters and the controller structure. The adaptive controller guarantees globally asymptotic stability in the hyperstability sense. For input disturbances, the control law, with little modification, maintains satisfactory system performance. Simulation results are presented to evaluate the performance of the adaptive controller for a two link manipulator.

A New Adaptive Control Approach for Robot Manipulators

Dynamic equations of robot manipulators are highly nonlinear with time-varying and unknown parameters. Using the model reference adaptive control (MRAC) technique, a control scheme based on hyperstability theory is developed for robot manipulators. A new adaptive algorithm is proposed for compensating the nonlinear term in the dynamic equations and for decoupling the dynamic interaction among the joints. The main feature of the approach is that the unknown parameters are not estimated separately, but the total influences due to the modeling errors and the disturbances can be directly compensated. Simulations show good results even for large variations of parameters. A comparison of this approach with the feedback linearization method (FLM) is also presented.