A low order adaptive control scheme for hydraulic servo systems

Torben Ole Andersen; Henrik Clemmensen Pedersen; Michael Møller Bech; Lasse Schmidt

doi:10.1109/FPM.2015.7337292

A low order adaptive control scheme for hydraulic servo systems

Torben Ole Andersen, Henrik Clemmensen Pedersen, Michael Møller Bech, Lasse Schmidt

AAU Energi

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

Abstrakt

This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical system were constructed and linearized. Controllers are implemented and tested on the manipulator. Pressure feedback was found to greatly improve system stability margins. Passive gain feedforward shows improved tracking performance for small changes in load pressure. For large changes in load pressure, active gain feedforward shows a slightly improved performance. Computed-Torque Control shows better performance, but requires a well described system for best performance. A novel Adaptive Inverse Dynamics Controller was tested and the performance was found to be similar to that of Computed-Torque Control, but without requiring any previous system knowledge.

Originalsprog	Engelsk
Titel	Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM)
Antal sider	5
Forlag	IEEE Press
Publikationsdato	aug. 2015
Sider	1148-1152
ISBN (Trykt)	978-1-4799-8770-2
DOI	https://doi.org/10.1109/FPM.2015.7337292
Status	Udgivet - aug. 2015
Begivenhed	2015 International Conference on Fluid Power and Mechatronics (FPM) - Harbin, Kina Varighed: 5 aug. 2015 → 7 aug. 2015

Konference

Konference	2015 International Conference on Fluid Power and Mechatronics (FPM)
Land/Område	Kina
By	Harbin
Periode	05/08/2015 → 07/08/2015

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10.1109/FPM.2015.7337292

Citationsformater

@inproceedings{3367e6449e07488aa1479e36420c7db2,

title = "A low order adaptive control scheme for hydraulic servo systems",

abstract = "This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical system were constructed and linearized. Controllers are implemented and tested on the manipulator. Pressure feedback was found to greatly improve system stability margins. Passive gain feedforward shows improved tracking performance for small changes in load pressure. For large changes in load pressure, active gain feedforward shows a slightly improved performance. Computed-Torque Control shows better performance, but requires a well described system for best performance. A novel Adaptive Inverse Dynamics Controller was tested and the performance was found to be similar to that of Computed-Torque Control, but without requiring any previous system knowledge.",

keywords = "Hydraulic manipula, Velocity feedforward, Computed Torque Control, Adaptive Inverse Dynamics Control",

author = "Andersen, {Torben Ole} and Pedersen, {Henrik Clemmensen} and Bech, {Michael M{\o}ller} and Lasse Schmidt",

year = "2015",

month = aug,

doi = "10.1109/FPM.2015.7337292",

language = "English",

isbn = "978-1-4799-8770-2",

pages = "1148--1152 ",

booktitle = "Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM)",

publisher = "IEEE Press",

note = "2015 International Conference on Fluid Power and Mechatronics (FPM) ; Conference date: 05-08-2015 Through 07-08-2015",

}

Andersen, TO , Pedersen, HC , Bech, MM & Schmidt, L 2015, A low order adaptive control scheme for hydraulic servo systems. i Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM). IEEE Press, s. 1148-1152 , 2015 International Conference on Fluid Power and Mechatronics (FPM), Harbin, Kina, 05/08/2015. https://doi.org/10.1109/FPM.2015.7337292

A low order adaptive control scheme for hydraulic servo systems. / Andersen, Torben Ole ; Pedersen, Henrik Clemmensen ; Bech, Michael Møller et al.

Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM). IEEE Press, 2015. s. 1148-1152 .

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - A low order adaptive control scheme for hydraulic servo systems

AU - Andersen, Torben Ole

AU - Pedersen, Henrik Clemmensen

AU - Bech, Michael Møller

AU - Schmidt, Lasse

PY - 2015/8

Y1 - 2015/8

N2 - This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical system were constructed and linearized. Controllers are implemented and tested on the manipulator. Pressure feedback was found to greatly improve system stability margins. Passive gain feedforward shows improved tracking performance for small changes in load pressure. For large changes in load pressure, active gain feedforward shows a slightly improved performance. Computed-Torque Control shows better performance, but requires a well described system for best performance. A novel Adaptive Inverse Dynamics Controller was tested and the performance was found to be similar to that of Computed-Torque Control, but without requiring any previous system knowledge.

AB - This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical system were constructed and linearized. Controllers are implemented and tested on the manipulator. Pressure feedback was found to greatly improve system stability margins. Passive gain feedforward shows improved tracking performance for small changes in load pressure. For large changes in load pressure, active gain feedforward shows a slightly improved performance. Computed-Torque Control shows better performance, but requires a well described system for best performance. A novel Adaptive Inverse Dynamics Controller was tested and the performance was found to be similar to that of Computed-Torque Control, but without requiring any previous system knowledge.

KW - Hydraulic manipula

KW - Velocity feedforward

KW - Computed Torque Control

KW - Adaptive Inverse Dynamics Control

U2 - 10.1109/FPM.2015.7337292

DO - 10.1109/FPM.2015.7337292

M3 - Article in proceeding

SN - 978-1-4799-8770-2

SP - 1148

EP - 1152

BT - Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM)

PB - IEEE Press

T2 - 2015 International Conference on Fluid Power and Mechatronics (FPM)

Y2 - 5 August 2015 through 7 August 2015

ER -

A low order adaptive control scheme for hydraulic servo systems

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