Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage

Original scientific paper Hydraulic simulators are extremely important in the flight control actuator system's verification process. Flexible nozzle has a number of specifics, comparing to other flight controls, because the load cannot be described, classically, by the hinge moment. Additionally, classical hydraulic simulator, in which the cylinder simulates the load, is not sufficient for performing a complete simulation of the real load. Building a mechanical pendulum, to which a hydraulic cylinder acts, and that rests on two elastic supports, enables simulation of additional phenomena that exist in flexible nozzle, but not in other control surfaces. Force from impulse that exists in reality, and which is impossible to be generated by standard hydraulic simulator, can be realized through the pendulum. This paper demonstrates that a simulator can be designed through modelling of the elastic load using bond graph, without a precise elaboration of direction of forces in elastic structure, just by observing, on energy level, the input of force in flexible structure over the point in which actuator force acts. Simulator with hydraulic cylinder is convenient to be used when there is a need for considering the risk of self-oscillation of flexible joint and nozzle, i.e. for defining the so-called notch filter. Then, the hydraulic cylinder of load simulator can generate the oscillation, frequency and amplitude that match this dynamic case of flexible nozzle actuator's load that is being reduced to its piston rod, without a risk of damaging the flexible structure that exists in the construction of a simulator with pendulum. Keywords: bond graph modelling; electro-hydraulic actuator; flexible nozzle; load simulator; servo-distributor Različite tehnologije modeliranja hidrauličkog simulatora opterećenja aktuatora za upravljanje vektorom potiskaIzvorni znanstveni članak Hidraulički simulatori su posebice važni u procesu verifikacije aktuacijskog sustava za kontrolu leta. Fleksibilni mlaznik ima niz specifičnosti u odnosu na druge komande leta, jer se opterećenje ne može opisati na klasičan način preko zglobnog momenta. Pored toga, klasičan hidraulički simulator, na bazi cilindra koji simulira opterećenje, nije dovoljan za potpunu simulaciju realnog opterećenja. Potrebno je napraviti mehaničko njihalo na koje deluje hidraulički cilindar i koje se oslanja na dva elastična oslonca kako bi se mogle simulirati i dopunske pojave koje postoje kod fleksibilnog mlaznika, a koji ne postoje kod drugih upravljačkih površina. Preko njihala se može zadati impulsna sila koja postoji u realnosti, a koju nije moguće generirati standardnim hidrauličkim simulatorom. U članku se pokazuje da se modeliranjem elastičnog opterećenja preko bond grafova simulator može projektirati bez preciznog razmatranja smjerova i pravaca sila u elastičnoj strukturi, već se samo energetski promatra unošenje sile u fleksibilnu strukturu preko mjesta djelovanja aktuacijske sile. Simulator s hidrauličkim cilindrom je pogodan u slučaju kad treba razmotriti rizik od ...

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“…For spring load modelling, Simscape [2,6,7] model of Translational Hard-Stop [19,24,25] as presented in Fig. 12 is being used.…”

Section: Mathematical Model Of An Actuator and System For Simulation mentioning

confidence: 99%

Different modeling technologies of hydraulic load simulator for thrust vector control actuator

Nauparac¹,

Pršić²,

Miloš

et al. 2015

Teh. vjesn.

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“…Control of the cutting trajectory and application of sufficient shear force are the key elements for achieving pure-rolling shear of the upper blade on a steel plate. The cutting trajectory and shear force are controlled by the output displacement and output force of two servo cylinders with very high control precision [21][22][23]. The horizontal hinged heavy-duty servo cylinder output force must follow a precise displacement curve and the piston rod must be able to withstand the dynamic partial load.…”

Section: Dynamic Partial Load Analysismentioning

confidence: 99%

Structural Design and Dynamic Characteristics of Overloaded Horizontal Servo Cylinder for Resisting Dynamic Partial Load

Huang

et al. 2019

Chin. J. Mech. Eng.

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“…Electro-hydraulic servo systems (EHSSs) have been widely used in the industry due to their advantages of high response, fast response, good stiffness, and high force [1]. With the development of digital technology, control theory, pattern recognition technology, and electronic technology, EHSSs have become one of the most popular topics in the fields of both scientific research and industrial engineering [2,3]. EHSSs including a position servo control system and a force servo control system are a typical closed-loop torque control system [4,5].…”

Section: Introductionmentioning

confidence: 99%

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

Fan

Shao

Sun

2019

Sensors

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To improve the controllability of an electro-hydraulic position servo control system while simultaneously enhancing the anti-jamming ability of a PID controller, a compound PID controller that combines the beetle antennae search algorithm with PID strategy was proposed, and used to drive the position servo control system of the electro-hydraulic servo system. A BAS-PID controller was designed, and the beetle antennae search algorithm was used to tune PID parameters so that the disturbance signal of the system was effectively restrained. Initially, the basic mathematical model of the electro-hydraulic position servo control system was established through theoretical analysis. The transfer function model was obtained by identifying system parameters. Then, the PID parameter-tuning problem was converted into a class of three-dimensional parameter optimization problem, and gains of PID controllers were adjusted using the beetle antennae search algorithm. Finally, by comparing the effectiveness of different algorithms, simulation and experimental results revealed that the BAS-PID controller can greatly enhance the performance of the electro-hydraulic position servo control system and inhibit external disturbances when different interference signals are used to test the system’s robustness.

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Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage

Cited by 25 publications

References 30 publications

Different modeling technologies of hydraulic load simulator for thrust vector control actuator

Different modeling technologies of hydraulic load simulator for thrust vector control actuator

Structural Design and Dynamic Characteristics of Overloaded Horizontal Servo Cylinder for Resisting Dynamic Partial Load

Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

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