0
TECHNICAL PAPERS

Robust Position Control of an Electrohydraulic Actuator With a Faulty Actuator Piston Seal

[+] Author and Article Information
M. Karpenko, N. Sepehri

Experimental Robotics and Teleoperations Laboratory, Department of Mechanical and Industrial Engineering, The University of Manitoba, Winnipeg, Manitoba, Canada R3T 5V6

J. Dyn. Sys., Meas., Control 125(3), 413-423 (Sep 18, 2003) (11 pages) doi:10.1115/1.1592194 History: Received June 12, 2002; Revised October 31, 2002; Online September 18, 2003
Copyright © 2003 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Experimental test rig illustrating the environment and components used for creating piston seal leakage
Grahic Jump Location
Schematic of the experimental system
Grahic Jump Location
Typical two degree-of-freedom feedback control system
Grahic Jump Location
Plant templates at various frequencies
Grahic Jump Location
Plant templates for each leakage level at various frequencies
Grahic Jump Location
QFT bounds and nominal loops, Ll(jω,αo), for each leakage level: (a) level 0; (b) level 1; (c) level 2; (d) level 3; (e) level 4
Grahic Jump Location
Frequency responses of the closed-loop systems with prefilters over the uncertain plant sets for each leakage level: (a) level 0; (b) level 1; (c) level 2; (d) level 3; (e) level 4
Grahic Jump Location
Normalized controller activations: SL, small leak; SML, small-medium leak; MLL, medium-large leak; LL, large leak
Grahic Jump Location
Step responses, to a 15 mm square command, corresponding to the local controller for each leakage level
Grahic Jump Location
Leakage flows pertaining to the experiments in Fig. 9
Grahic Jump Location
Control signals pertaining to the experiments in Fig. 9
Grahic Jump Location
Position responses of the normal (no leak) controller for various leakage levels
Grahic Jump Location
Performance of the switching controller for increasing leakage: (a) position response; (b) leakage flow; (c) control signal
Grahic Jump Location
Performance of the normal (no leak) controller for increasing leakage: (a) position response; (b) leakage flow; (c) control signal

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In