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Research Papers

Compound Velocity Synchronizing Control Strategy for Electro-Hydraulic Load Simulator and Its Engineering Application

[+] Author and Article Information
Songshan Han

School of Automation Science
and Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: hansongshan@gmail.com

Zongxia Jiao

Science and Technology
on Aircraft Control Laboratory,
School of Automation Science
and Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: zxjiao@buaa.edu.cn

Jianyong Yao

School of Mechanical Engineering,
Nanjing University of Science and Technology,
Nanjing 210094, China
e-mail: jerryyao.buaa@gmail.com

Yaoxing Shang

School of Automation Science
and Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: syx@buaa.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 11, 2013; final manuscript received February 18, 2014; published online May 12, 2014. Assoc. Editor: Evangelos Papadopoulos.

J. Dyn. Sys., Meas., Control 136(5), 051002 (May 12, 2014) (13 pages) Paper No: DS-13-1316; doi: 10.1115/1.4026921 History: Received August 11, 2013; Revised February 18, 2014

An electro-hydraulic load simulator (EHLS) is a typical case of torque systems with strong external disturbances from hydraulic motion systems. A new velocity synchronizing compensation strategy is proposed in this paper to eliminate motion disturbances, based on theoretical and experimental analysis of a structure invariance method and traditional velocity synchronizing compensation controller (TVSM). This strategy only uses the servo-valve's control signal of motion system and torque feedback of torque system, which could avoid the requirement on the velocity and acceleration signal in the structure invariance method, and effectively achieve a more accurate velocity synchronizing compensation in large loading conditions than a TVSM. In order to facilitate the implementation of this strategy in engineering cases, the selection rules for compensation parameters are proposed. It does not rely on any accurate information of structure parameters. This paper presents the comparison data of an EHLS with various typical operating conditions using three controllers, i.e., closed loop proportional integral derivative (PID) controller, TVSM, and the proposed improved velocity synchronizing controller. Experiments are conducted to confirm that the new strategy performs well against motion disturbances. It is more effective to improve the tracking accuracy and is a more appropriate choice for engineering applications.

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References

Figures

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Fig. 1

The structure diagram (left) of EHLS and actuator and hydraulic rotary motor (right)

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Fig. 2

The block diagram of EHLS with motion disturbances

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Fig. 3

The principle diagram of the structure invariance method

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Fig. 4

The principle diagram of TVSM

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Fig. 5

Comparison between uL and ucom with 0 Nm torque command

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Fig. 6

Comparison between uL and ucom with 500 Nm at 1 Hz torque command

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Fig. 7

The closed-loop controller output uc

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Fig. 8

The torque output T of loading simulator

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Fig. 9

The block diagram of EHLS without motion disturbances

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Fig. 10

The block diagram of the new compound controller

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Fig. 11

Experimental platform

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Fig. 12

Comparison of e in static loading situation. (a) PID controller without compensation, (b) TVSM, and (c) the new compound velocity synchronizing controller.

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Fig. 13

Comparison of servo output in static loading situation

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Fig. 14

Angle command in gradient loading situation

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Fig. 15

Comparison of e in gradient loading situation. (a) PID controller without compensation, (b) TVSM, and (c) the new compound velocity synchronizing controller.

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Fig. 16

Comparison of servo output in gradient loading situation

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Fig. 17

Comparison of e for various loading conditions

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Fig. 18

Angle command in loading at different frequencies

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Fig. 19

Comparison of e in loading at different frequencies. (a) PID controller without compensation, (b) TVSM, and (c) the new compound velocity synchronizing controller.

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Fig. 20

Comparison of servo output in loading at different frequencies

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Fig. 22

Comparison of e with arbitrary motion disturbances. (a) PID controller without compensation, (b) TVSM, and (c) the new compound velocity synchronizing controller.

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Fig. 23

Comparison of servo output with arbitrary motion disturbances

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