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Technical Briefs

Adaptive Position Control of an Electrohydraulic Servo System With Load Disturbance Rejection and Friction Compensation

[+] Author and Article Information
Honorine Angue-Mintsa

 Ecole de Technologie Supérieure, 1100 Rue Notre Dame-Ouest, Montreal, Québec, Canada H3C 1K3

Ravinder Venugopal

 Intellicass Inc., 1804 Rue Tupper, Suite 4, Montreal, Québec, Canada H3H 1N4 rvenugopal@intellicass.com

Jean-Pierre Kenné

 Ecole de Technologie Supérieure,1100 Rue Notre Dame-Ouest, Montreal, Québec, Canada H3C 1K3Jean-Pierre.Kenne@etsmtl.ca

Christian Belleau

 Ecole de Technologie Supérieure,1100 Rue Notre Dame-Ouest, Montreal, Québec, Canada H3C 1K3Christian.Belleau@etsmtl.ca

J. Dyn. Sys., Meas., Control 133(6), 064506 (Nov 22, 2011) (8 pages) doi:10.1115/1.4004776 History: Received June 27, 2010; Revised March 01, 2011; Published November 22, 2011

Electrohydraulic servo systems (EHSS) are used for several engineering applications, and in particular, for efficient handling of heavy loads. These systems are characterized by pronounced nonlinearities and are also subject to parameter variations during operation, friction effects, and variable loads. Several studies have addressed the nonlinear nature of EHSS; however, only a few control schemes explicitly address friction and load disturbance effects along with parameter variations. Fuzzy and/or sliding mode versions of feedback linearizing controllers have been used to compensate for the external loads disturbances in the control of EHSS. However, real-time implementations issues limit the use of these techniques. While adaptive control using a feedback-linearization based controller structure has been shown to be effective in the presence of parameter variations, load and friction effects are typically not considered. In this paper, we present a nonlinear adaptive feedback linearizing position controller for an EHSS, which is robust to parameter uncertainty while achieving load disturbances rejection/attenuation and friction compensation. The adaptation law is derived using a Lyapunov approach. Simulation results using the proposed controller are compared to those using a nonadaptive feedback linearizing controller as well as a proportional-integral-derivative (PID) controller, in the presence of torque load disturbance, friction, and uncertainty in the hydraulic parameters. These results show improved tracking performance with the proposed controller. To address implementation concerns, simulation results with noise effects and valve saturation are also presented.

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Copyright © 2011 by American Society of Mechanical Engineers
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References

Figures

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Figure 13

Output derivative estimation, sinusoidal reference signal

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Figure 12

Tracking error with external load disturbance, friction, varying parameters, valve saturation and 10% measurement noise when using the PID controller (a), the nonadaptive controller (b), and the proposed control law (c), sinusoidal reference signal

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Figure 6

Tracking error when using the proposed control law, the nonadaptive controller and the PID controller, sinusoidal reference signal

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Figure 5

System response when using the proposed control law (a), the nonadaptive controller (b), and the PID controller (c), sinusoidal reference signal

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Figure 4

Tracking error when using the proposed controller, the nonadaptive feedback linearizing controller and the PID controller (a) and magnified plot of tracking error for proposed controller (b), constant reference signal

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Figure 3

System response when using the proposed control law (a), the nonadaptive feedback linearizing controller (b), and the PID controller (c), constant reference signal

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Figure 2

Simulation of uncertainty in the load disturbance (a), friction (b), and fluid bulk modulus (c)

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Figure 1

Electrohydraulic system

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Figure 11

Closed-loop system response with external load disturbance, friction, varying parameters, valve saturation, and 10% measurement noise when using the proposed control law (a), the nonadaptive controller (b), and the PID controller (c), sinusoidal reference signal

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Figure 10

Tracking error with external load disturbance, friction, varying parameters, valve saturation and 10% measurement noise when using the PID controller, the nonadaptive controller and the proposed control law, constant reference signal

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Figure 9

Closed-loop system response with external load disturbance, friction, varying parameters, valve saturation, and 10% measurement noise when using the proposed control law (a), the nonadaptive controller (b), and the PID controller (c), constant reference signal

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Figure 8

Estimated and true parameters value, sinusoidal reference signal

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Figure 7

Estimated and true parameters value, sinusoidal reference signal

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