Synthesis of a MIMO QFT controller for hydraulic hybrid swing system of excavators

Cai, Yan; Jun, Song; Sepehri, Nariman

doi:10.1080/14399776.2017.1366244

Cited by 4 publications

(3 citation statements)

References 12 publications

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“…In the QFT controller, the object template [31,32] is adopted to describe the uncertainty of objects at different frequency points. To obtain an appropriate object template while considering the frequency response of the system, a set of frequency points, i.e., ω = {0.01, 0.05, 0.25, 1, 2, 5, 10, 20, 40}, was selected.…”

Section: Determination Of Parameter Uncertainty Set and System Templatementioning

confidence: 99%

Force Compensation Control for Electro-Hydraulic Servo System with Pump–Valve Compound Drive via QFT–DTOC

Ba,

Wang,

et al. 2024

Chin. J. Mech. Eng.

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Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit (HDU), which features a high power–weight ratio. However, most HDUs are throttling-valve-controlled cylinder systems, which exhibit high energy losses. By contrast, pump control systems offer a high efficiency. Nevertheless, their response ability is unsatisfactory. To fully utilize the advantages of pump and valve control systems, in this study, a new type of pump–valve compound drive system (PCDS) is designed, which can not only effectively reduce the energy loss, but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots. Herein, considering the force control requirements of energy conservation, high precision, and fast response of the robot joint HDU, a nonlinear mathematical model of the PCDS force control system is first introduced. In addition, pressure–flow nonlinearity, friction nonlinearity, load complexity and variability, and other factors affecting the system are considered, and a novel force control method based on quantitative feedback theory (QFT) and a disturbance torque observer (DTO) is designed, which is denoted as QFT–DTOC herein. This method improves the control accuracy and robustness of the force control system, reduces the effect of the disturbance torque on the control performance of the servo motor, and improves the overall force control performance of the system. Finally, experimental verification is performed using the PCDS performance test platform. The experimental results and quantitative data show that the QFT–DTOC proposed herein can significantly improve the force control performance of the PCDS. The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

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Section: Determination Of Parameter Uncertainty Set and System Templatementioning

confidence: 99%

Force Compensation Control for Electro-Hydraulic Servo System with Pump–Valve Compound Drive via QFT–DTOC

Ba,

Wang,

et al. 2024

Chin. J. Mech. Eng.

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“…Using ( 4), (5), and (29), Synthesis of G :To synthesize G, we require η(G, êi ) and êi apart form 𝜌(G, êi ). These are computed as below.…”

Section: Theoremmentioning

confidence: 99%

“…of systems using QFT 2 . In the last two decades, the versatility of QFT is found in a wide area of applications such as industrial furnaces, 3 spacecraft with large flimsy appendages, 4 hydraulic hybrid swing system of excavators, 5 vehicle suspension system, 6 wind energy conversion systems 7 and so forth.…”

Section: Introductionmentioning

confidence: 99%

Multi‐variable quantitative feedback theory based controller using directional transfer ratio

Roy

2022

Intl J Robust & Nonlinear

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This article proposes a novel method, inspired from eigen decomposition technique, to design a quantitative feedback theory (QFT) based robust controller for a multiple input multiple output (MIMO) uncertain plant. The proposed method is a direct and sufficiently generalized one. Unlike existing practice, it does not require to transform a “n×n” MIMO‐QFT based design problem into “n” sequential multiple input single output QFT based design problems. Apart from the frequency dependency, the frequency response of a MIMO system also has the spatial dependency. This makes the frequency domain analysis and design for a MIMO system, more challenging than its SISO counterpart. Three new concepts namely directional transfer ratio (DTR), output directionality (OD), and principle of control along characteristic vectors (PCCV) are introduced to take care of the complexities of the frequency response of a MIMO feedback system. The DTR, OD, PCCV and existing techniques of QFT are combined together to develop the proposed design method. A case study is presented considering a “2×2” ill‐conditioned plant to illustrate the method. The proposed method is expected to open up new avenues in the area of MIMO‐QFT based design.

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High precision position control of electro-hydrostatic actuators in the presence of parametric uncertainties and uncertain nonlinearities

et al. 2020

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Synthesis of a MIMO QFT controller for hydraulic hybrid swing system of excavators

Cited by 4 publications

References 12 publications

Force Compensation Control for Electro-Hydraulic Servo System with Pump–Valve Compound Drive via QFT–DTOC

Force Compensation Control for Electro-Hydraulic Servo System with Pump–Valve Compound Drive via QFT–DTOC

Multi‐variable quantitative feedback theory based controller using directional transfer ratio

High precision position control of electro-hydrostatic actuators in the presence of parametric uncertainties and uncertain nonlinearities

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