Research Papers

Using Feedback Linearization to Improve the Tracking Performance of a Linear Hydraulic-Actuator

[+] Author and Article Information
Noah D. Manring

Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: ManringN@missouri.edu

Laheeb Muhi

Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: lnm9kf@mail.missouri.edu

Roger C. Fales

Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: FalesR@missouri.edu

Viral S. Mehta

Caterpillar, Inc.,
Peoria, IL 61656
e-mail: Mehta_Viral@cat.com

Jeff Kuehn

Caterpillar, Inc.,
Peoria, IL 61656
e-mail: Kuehn_Jeff_L@cat.com

Jeremy Peterson

Caterpillar, Inc.,
Peoria, IL 61656
e-mail: Peterson_Jeremy@cat.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 19, 2016; final manuscript received June 20, 2017; published online September 8, 2017. Assoc. Editor: Kevin Fite.

J. Dyn. Sys., Meas., Control 140(1), 011009 (Sep 08, 2017) (7 pages) Paper No: DS-16-1198; doi: 10.1115/1.4037285 History: Received April 19, 2016; Revised June 20, 2017

In this paper, a simple feedback linearization method is used to improve the tracking performance of a linear hydraulic-actuator. This research uses an open-centered four-way valve to control the displacement of the hydraulic actuator, based upon an input command from the operator. In this research, the operator is modeled as a first-order system with a bandwidth frequency of 2 Hz. The feedback linearization method is used to adjust the operator input based on the measurement of fluid pressure on only one side of the actuator and the pump pressure that supplies the valve. No other sensing is needed. Using this approach, the R-squared value for tracking a sinusoidal displacement of the actuator and the bandwidth frequency of the actuator are increased. Furthermore, it is shown that the feedback linearization method reduces and nearly eliminates the load dependence of the tracking response, which means that operators should have less difficulty learning how to operate the machine over a wide range of conditions, and the overall productivity of the machine should go up. In summary, the elegance of this model is found in the fact that it is very simple to implement and that the alterations in output performance are greatly enhanced.

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Grahic Jump Location
Fig. 1

A schematic of the linear hydraulic actuator with its directional control valve

Grahic Jump Location
Fig. 2

Control scheme including feedback linearization

Grahic Jump Location
Fig. 3

Instantaneous tracking results for the system when F̂=0.50, δŷ=0.25, and ω̂=π/2

Grahic Jump Location
Fig. 4

Instantaneous tracking error for the system when F̂=0.50, δŷ=0.25, and ω̂=π/2

Grahic Jump Location
Fig. 5

R-squared values when δŷ=0.25 and F̂=0.2, 0.4 ,and 0.6




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