A low order adaptive control scheme for hydraulic servo systems

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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.
OriginalsprogEngelsk
TitelProceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM)
Antal sider5
ForlagIEEE Press
Publikationsdatoaug. 2015
Sider1148-1152
ISBN (Trykt)978-1-4799-8770-2
DOI
StatusUdgivet - aug. 2015
Begivenhed2015 International Conference on Fluid Power and Mechatronics (FPM) - Harbin, Kina
Varighed: 5 aug. 20157 aug. 2015

Konference

Konference2015 International Conference on Fluid Power and Mechatronics (FPM)
Land/OmrådeKina
ByHarbin
Periode05/08/201507/08/2015

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