Research Papers

Modeling and Control of a Novel Linear-Driven Electro-Hydrostatic Actuator Using Energetic Macroscopic Representation

[+] Author and Article Information
Zongxia Jiao

School of Automation Science and
Electrical Engineering,
Beihang University,
No. 37 Xueyuan Road,
Haidian District,
Beijing 100191, China
e-mail: zxjiao@buaa.edu.cn

Zimeng Wang

School of Automation Science and
Electrical Engineering,
Beihang University,
No. 37 Xueyuan Road,
Haidian District,
Beijing 100191, China
e-mail: buaawzm@126.com

Xinglu Li

School of Automation Science and
Electrical Engineering,
Beihang University,
No. 37 Xueyuan Road,
Haidian District,
Beijing 100191, China
e-mail: lixinglu@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 April 25, 2017; final manuscript received December 1, 2017; published online January 9, 2018. Assoc. Editor: Zongxuan Sun.

J. Dyn. Sys., Meas., Control 140(7), 071002 (Jan 09, 2018) (9 pages) Paper No: DS-17-1217; doi: 10.1115/1.4038658 History: Received April 25, 2017; Revised December 01, 2017

Energetic macroscopic representation (EMR) is an effective graphical modeling tool for multiphysical systems, and EMR model clearly illustrates the power flow and interaction between different subcomponents. This paper presents the modeling and control of a novel linear-driven electro-hydrostatic actuator (LEHA) with EMR method. The LEHA is a novel electro-hydrostatic actuation system, and the hydraulic cylinder in LEHA is driven by a novel collaborative rectification pump (CRP), which incorporates two miniature cylinders and two spool valves. EMR model clearly illustrated the powertrain in LEHA and interaction between each components. Based on EMR model, a maximum control structure (MCS) is easily deduced using the action and reaction principle, and then the practicable controller deduced from MCS shows satisfying performance in the simulation.

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Fig. 1

The schematic of LEHA and a novel collaborative rectification linear pump

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Fig. 3

EMR of the linear oscillating motor

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Fig. 5

EMR of hydraulic cylinder

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Fig. 7

Tuning path of the LEHA's EMR model

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Fig. 8


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Fig. 9

Position response of LEHA

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Fig. 10

Flow rate of linear pump

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Fig. 11

Position and velocity response of linear motor: (a) position response and (b) velocity response

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Fig. 12

Winding current of linear motor

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Fig. 13

Power of LEHA components: (a) LEHA force, (b) LEHA velocity, and (c) output power

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Fig. 14

Position response of LEHA with inversion-based controller (IBC) and PID controller: (a) 3 mm-1 Hz, (b) 3 mm-2 Hz, (c) 3 mm-3 Hz, (d) 3 mm-4 Hz, (e) 3 mm-5 Hz, and (f) 3 mm-6 Hz



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