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Technical Briefs

Inner-Loop Control for Electro-Hydraulic Actuation Systems

[+] Author and Article Information
Mohammed A. El Sayed

 Department of Mechanical Engineering, McMaster University, Hamilton, Canada L8S 4L7abugabma@mcmaster.ca

Saeid Habibi

 Department of Mechanical Engineering, McMaster University, Hamilton, Canada L8S 4L7habibi@mcmaster.ca

J. Dyn. Sys., Meas., Control 134(1), 014501 (Dec 02, 2011) (8 pages) doi:10.1115/1.4001338 History: Received August 06, 2009; Revised February 12, 2010; Published December 02, 2011; Online December 02, 2011

This article presents the development of a multiple inner-loop control strategy for improving the performance of hydrostatic actuation systems. In these actuators, the presence of nonlinearities associated with pump/motor static friction and backlash, pressure drop in the piping system, and nonlinear friction at the load have a significant effect on the performance and positional accuracy of the system. The effect of nonlinear friction at the pump/motor interface has been overcome by the use of a high gain pump-speed inner-loop control strategy. In this article, the concept of inner-loop control will be extended to target other specific sources of performance degradation. Velocity feedback will be incorporated in this manner to decrease the effects of pump backlash and nonlinear friction at the load. Simulation results supported by theoretical analysis indicate that a considerable improvement in performance can be achieved by the implementation of this control strategy.

Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

The EHA circuit diagram [11]

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Figure 2

Quadratic friction model [12]

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Figure 3

Backlash nonlinearity [13]

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Figure 4

Backlash block diagram

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Figure 5

Block diagram of backlash model used in frequency response analysis

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Figure 6

Complete EHA block diagram

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Figure 7

EHA system using position feedback from the load

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Figure 8

Electric motor inner control loop [7]

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Figure 9

Proposed inner loop control strategy

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Figure 10

Simplified EHA block diagram

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Figure 11

Frequency response characteristics relating the input to load position

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Figure 12

Small signal system time response

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Figure 13

Small signal ETFE frequency response

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Figure 14

Sensitivity of the output position to piping pressure loss disturbance

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Figure 15

Sensitivity of the output position to motor dead-zone disturbance

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Figure 16

Sensitivity of the output position to load friction disturbance

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Figure 17

Sensitivity of the closed loop transfer function to pump backlash

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