Position Control with ADRC for a Hydrostatic Double-Cylinder Actuator

Abstract

A compact and flexible hydraulic double-cylinder actuation scheme is proposed for use in applications, especially where power density is extremely demanding. In view of flexible amounting requirements, long and thin hoses were utilized to connect two cylinders. Affecting the actuation preciseness, volume variation of the hoses caused by pressurized oil and bubbles was the main problem the system encountered. In this study, an active disturbance rejection control (ADRC) strategy was adopted for the improvement of displacement control performance under uncertain external load. After the experimental verification of the necessity of a hose model for the system, a centralized-parameter hose model was constructed where the coefficients are determined on the basis of the experimental data. Additionally, the system and the controller proposed were mathematically modeled. Simulation results shows that the system using ADRC exhibited higher displacement accuracy and better dynamic performance than that using PID (Proportion-Integral-Derivative) or fuzzy PID. ADRC has a stronger disturbance rejection ability. ADRC is an effective solution to nonlinear control of systems with uncertain parameters or various loads.

MPC-ESO Position Control Strategy for a Miniature Double-Cylinder Actuator Considering Hose Effects

“…The flexible hoses connect the two cylinders, which allows for narrow-space arrangement and remote control for the actuating cylinder. In addition, an accumulator rather than the conventional oil source design greatly simplifies the system structure and improves the transient performance [ 23 ].…”

“…The relationship between Δ p and Δ y can be described by: where p is the pressure inside the hose; y is the radius variation of the hose; k h is the equivalent coefficient of the oil compression converted into elastic deformation of the hose, which quantifies the relationship between the compression of the hydraulic oil and the resulting elastic deformation of the hose; k 1 and k 2 are the elastic coefficients of the hose, which determine how the hose responds to external forces or pressure changes; Be is the elastic damping coefficient of the hose, indicating the amount of damping or energy dissipation in the hose’s elastic response; a is the average radius of the hose; and β e represents the volumetric modulus of the hydraulic oil [ 23 ].…”

“…The piston displacement of the power cylinder is X i and that of the actuating cylinder is X o . F t represents the force due to the external load disturbance; m is the equivalent mass of all moving parts; and P 1 and P 2 are the pressures in the rodless and rod chambers of the actuating cylinder, respectively [ 23 ].…”

Quantitative evaluation of properties of structural solutions of electrohydraulic positioning actuators

“…В позиційних приводах, які ґрунтуються на методі управління (М4) [8][9][10][11], блок формування команд реалізується на основі контейнера, який може циклічно заповнюватися та подавати фіксовані порції робочої рідини (Рис. 11).…”

Experimental Tests on the Influence of Accumulated Pressure Energy on the Response Time of a Hydraulic Cylinder under External Load Actuated in a Classic and Distributed System Structure

“…Their popularity results from the fact that in the classic architecture they have one central valve block which controls multiple receivers and is typically powered from one source. Research is currently performed into improving the operating characteristics by implementing a series of control solutions without manipulating the structure of the hydrostatic system [15][16][17][18][19][20]. Another, parallel research direction is to modify the classic structure of the system by adding a system which would allow the accumulation and reuse of the hydraulic energy, thus increasing the efficiency of the entire system [21,22].…”