Research Papers

Position Tracking Control of a Miniature Water Hydraulic Rotary Actuator

[+] Author and Article Information
Russell Sindrey, Gary M. Bone

Department of Mechanical Engineering, McMaster University, Hamilton, ON, L8S 4L7, Canada

J. Dyn. Sys., Meas., Control 131(6), 061003 (Nov 09, 2009) (8 pages) doi:10.1115/1.3223563 History: Received October 23, 2007; Revised July 23, 2009; Published November 09, 2009; Online November 09, 2009

Over the past 20 years, research in the field of miniature actuators has increased substantially due to advances in smart material fabrication, semiconductor chip technology, and computer processing capability. Hydraulic cylinders offer many potential benefits as miniature actuators, including high power-to-weight ratio, mechanical stiffness, smooth motion, and the potential for high positional accuracy. Despite their benefits, the control of hydraulic cylinders with bore diameters under 10 mm has not been previously studied. The most significant obstacle to implementing the use of miniature cylinders is the unavailability of off-the-shelf proportional valves that are compatible with hydraulic fluid and precise enough for the position control task. In this paper, two novel model-based nonlinear control strategies are presented for the position control of a rotary actuator powered by two 4 mm bore diameter cylinders. Four off-the-shelf, low cost, 2/2 on/off miniature solenoid valves were used to control the flow of water to and from the cylinder chambers. A novel valve coordination scheme is also presented that allows the on/off valves to approximate the behavior of a proportional valve. The tracking performance of each controller was experimentally tested and both controllers were found to achieve steady-state positioning accuracies of the cylinders within ±0.07 mm. The robustness of the controllers to changes in payload mass and vertical orientation was also tested. Results from several experiments are presented and compared.

Copyright © 2009 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 1

Hydraulic and mechanical schematic diagram

Grahic Jump Location
Figure 2

Photograph of the hydraulic rotary actuator

Grahic Jump Location
Figure 3

Pressure drop versus flow rate for duty cycle=42%

Grahic Jump Location
Figure 4

Valve flow resistance versus duty cycle

Grahic Jump Location
Figure 5

Plot of viscous and static force loss versus velocity

Grahic Jump Location
Figure 6

Plot of Coulomb force loss versus rack position

Grahic Jump Location
Figure 7

Block diagram of the PVAFF controller

Grahic Jump Location
Figure 8

Boundary layer concept for sliding mode control

Grahic Jump Location
Figure 9

Block diagram of the PVAFFSMC controller

Grahic Jump Location
Figure 10

Cycloidal tracking experiment with PVA controller

Grahic Jump Location
Figure 11

Cycloidal tracking experiment with PVAFF controller

Grahic Jump Location
Figure 12

Cycloidal tracking experiment with PVAFFSMC control

Grahic Jump Location
Figure 13

Sinusoidal tracking experiment with PVA controller

Grahic Jump Location
Figure 14

Sinusoidal tracking experiment with PVAFF controller

Grahic Jump Location
Figure 15

Sinusoidal trajectory with PVAFFSMC control




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