Robust Model Predictive position Control of direct drive electro-hydraulic servo system

Zad, Haris Sheh; Ulasyar, Abasin; Zohaib, Adil

doi:10.1109/intelse.2016.7475169

Cited by 21 publications

(15 citation statements)

References 12 publications

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“…Remark 6: Due to the large length of stability proof for LTV-MPC control (20)- (21), this paper will not repeat the description, and the detailed proof process has been presented in [26,Section 4].…”

Section: Ltv-mpc Controller Designmentioning

confidence: 99%

“…In recent years, many literatures have considered the above issues. In [17], [21], Yao and Gu et al used ESO (Extended state observer) to estimate the unmeasurable state of the electro-hydraulic system for the model-based controllers. Yao et al [18] proposed a desirable compensation adaptive approach to alleviate the noise, the adaptive compensation and the regressor in the controller depend on the desired trajectory and online parameter estimates only.…”

Section: Introductionmentioning

confidence: 99%

“…And the model used in MPC is a fixed model, which has nothing to do with the current state trajectory. Zad et al [21] proposed a robust model predictive controller for a direct drive hydraulic position servo system in presence of unknown dynamics and uncertain nonlinearities. However, the disturbance estimation mechanism is not considered in the design resulting in limited tracking performance when fully relying on the fixed model of MPC.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Model Predictive Trajectory Tracking Control of Electro-Hydraulic Actuator in Legged Robot With Multi-Scale Online Estimator

Huang

et al. 2020

IEEE Access

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This paper addresses the trajectory tracking problem for constrained high dynamic electrohydraulic actuator in the presence of time-varying parameters, high frequency external load interference, measurement noise and some unmeasurable states. An adaptive robust optimal control scheme is proposed for the electro-hydraulic actuator in legged robot. The framework of our presented scheme is based on a linear time-varying model predictive controller (LTV-MPC) embedded with a multi-scale online estimator (MEKF). With fast-varying and slow-varying time scales, the MEKF part is used not only for measurable states filtering and unmeasurable states estimation, but also for time-varying parameters and external load interference estimation, which will be integrated into the mpc model in real time. The LTV-MPC part is a trajectory tracking controller designed by constrained MPC with an approximate high-precision real-time model and a rapidly solved cost function, which guarantees that the input and output constraints are satisfied during the receding horizon and optimal control process. Finally, with a series of highly dynamic conditions, the comparison experiment results show that the proposed controller has a simple design process, strong adaptive robust performance and trajectory tracking performance, which verifies the effectiveness of the control scheme. INDEX TERMS Multi-scale online estimator, linear time-varying model predictive controller, electrohydraulic actuator.

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Section: Ltv-mpc Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Model Predictive Trajectory Tracking Control of Electro-Hydraulic Actuator in Legged Robot With Multi-Scale Online Estimator

Huang

et al. 2020

IEEE Access

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“…A triple-loop feedback control strategy was developed by Tianyi et al, 2018 to extend the pressure bandwidth of the driving element in a humanoid robot [13,14]. It's also very convenient to apply adaptive control strategy, intelligent hybrid control strategy, predictive control strategy and sliding mode control strategy to the direct drive hydraulic systems with the speed mode [15][16][17][18][19]. Li et al, 2018 analyzed the natural frequency characteristics of an electro-hydrostatic actuator (EHA), and the influence of the moment of inertia of the motorpump unit on its dynamic performance was also discussed [20].…”

Section: Introductionmentioning

confidence: 99%

Experimental Study of the Direct Drive Hydraulic System with the Torque Mode

Zhang

Jiang

2021

Energies

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The torque mode is more suitable for the direct drive 6 degree of freedom (6-DOF) parallel mechanism than the speed mode that both dynamic coupling and current coupling among motors are easily solved, but its key parameters and dynamic characteristics have never been studied, which are important and are the goals of this paper. First the hydraulic system of the direct drive 6-DOF parallel mechanism is simplified. Then the transfer function of the direct drive hydraulic system with the torque mode is deduced together with that of the speed mode. Finally, comparative experiments are conducted. Results show that the dynamic characteristics of the system with the torque mode which are generally worse than those with the speed mode, are mainly determined by the parameters of the motor-pump second-order element of the transfer function composed of two under-damped second-order elements, proportion differentiation (PD) control strategy and dynamic pressure feedback (DPF) control strategy are useful for the system with the torque mode, but practical and effective methods are still needed.

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“…Shen et al [10] enhanced the dynamic response of a new type electro-hydraulic actuator adopted variable displacement pump with a fuzzy controller. Sliding mode controller was also applied to direct drive system [11][12][13], especially, the real-time values of the rod velocity and acceleration obtained from the measurement signal of displacement were applied with the discrete variable structure control algorithm, by using a third-order integral chain differentiator [14]. Wang et al proposed a state estimation-based model predictive control strategy to deal with the constraints and poor robustness problems existing in the system of a servo motor driven pump-controlled asymmetric cylinder [15].…”

Section: Introductionmentioning

confidence: 99%

PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

Zhang

2020

Energies

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In order to ensure good dynamic characteristics, servo valve is usually adopted as the drive part of Stewart manipulator which causes huge power consumption, while direct drive electro-hydraulic servo system has the advantages of energy saving, simple structure, convenient installation, and low failure rate. But its dynamic characteristics are so poor that it can only be applied to occasions where quick response is not needed. On the consideration above, following works are done in this paper. Since current coupling exists in the control system based on the speed of the servo motor as the control input, the control system of the direct drive Stewart manipulator is established based on the current of the servo motor as the control input in which the current coupling can be solved. In order to improve the dynamic characteristics of the direct drive Stewart manipulator, a Proportion Differentiation (PD) plus dynamic pressure feedback control strategy is also put forward in this paper, which is verified by using a simulated hydraulically driven Stewart manipulator. Simulation results show that both dynamic coupling and current coupling are solved and the control strategy proposed in this paper can significantly increase the bandwidths of all degrees of freedom.

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Robust Model Predictive position Control of direct drive electro-hydraulic servo system

Cited by 21 publications

References 12 publications

Model Predictive Trajectory Tracking Control of Electro-Hydraulic Actuator in Legged Robot With Multi-Scale Online Estimator

Model Predictive Trajectory Tracking Control of Electro-Hydraulic Actuator in Legged Robot With Multi-Scale Online Estimator

Experimental Study of the Direct Drive Hydraulic System with the Torque Mode

PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

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