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TECHNICAL BRIEFS

Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator

[+] Author and Article Information
Rui Liu, Andrew Alleyne

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

J. Dyn. Sys., Meas., Control 122(1), 232-236 (Oct 28, 1998) (5 pages) doi:10.1115/1.482466 History: Received October 28, 1998
Copyright © 2000 by ASME
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References

Alleyne,  A., and Liu,  R., 1999, “On the Limitations of Force Tracking Control for Hydraulic Servosystems,” ASME J. Dyn. Syst., Meas., Control, 121, No. 2, pp. 184–190.
Watton, J., 1989, Fluid Power Systems: Modeling, Simulation, Analog and Microcomputer Control, Prentice-Hall, Upper Saddle River, NJ.
Heinrichs,  B., Sepheri,  N., Thornton-Trump,  A. B., 1997, “Position-Based Impedance Control of an Industrial Hydraulic Manipulator,” IEEE Control Syst. Mag., 17, No. 1, pp. 46–52.
Niksefat, N., and Sepehri, N., “Robust Force Controller Design for a Hydraulic Actuator Based on Experimental Input-Output Data,” 1999 American Control Conference, pp. 3718–3722, San Diego, CA, June 1999.
Alleyne, A., 1996, “Nonlinear Force Control of an Electrohydraulic Actuator,” Japan/USA Symposium on Flexible Automation, 1 , pp. 193–200, Boston, MA, June 1996.
Merritt, H. E., 1967, Hydraulic Control Systems, Wiley, New York, NY.
Khalil, H. K., 1996, Nonlinear Systems, 2nd edition, Prentice-Hall, Upper Saddle River, NJ.
Karnopp,  D., 1985, “Computer Simulation of Stick-Slip Friction in Mechanical Dynamic Systems,” ASME J. Dyn. Syst., Meas., Control, 107, No. 1, pp. 100–103.
Armstrong-Helouvry,  B., Dupont,  P., and Canudas de Wit,  C., 1994, “Friction in Servo Machines: Analysis and Control Methods.” Appl. Mech. Rev., 47, No. 7.
Alleyne, A., and Liu, R., 1999, “Nonlinear Force/Pressure Tracking of an Electro-hydraulic Actuator,” 1999 IFAC World Congress, Vol. B, pp. 469–474, Beijing, China, July 1999.

Figures

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Friction model verification: 1 Hz pressure tracking. Modeled friction: ——, Estimated friction: ⋅ ⋅ ⋅ ⋅
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25 Hz pressure tracking result. Desired trajectory: — — —, actual trajectory: —— .
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A schematic diagram of the experimental system
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Friction model used in the system model, including the Karnopp and Stribeck models
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Estimated friction-velocity relation for a 0.5 Hz square wave
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1 Hz force tracking. Desired trajectory: — — —, actual trajectory: ——.
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1 Hz force tracking error
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Valve position for 1 Hz force tracking. Desired trajectory: — — —, actual trajectory: ——.
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Valve tracking error for 1 Hz force tracking
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1 Hz pressure tracking result. Desired trajectory: ——, actual trajectory: ⋅ ⋅ ⋅ ⋅ .
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1 Hz pressure tracking error

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