An Arbitrary Order Adaptive Control Structure with Application to a Hydraulic Winch Drive

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Resumé

The dominant physical phenomena in hydraulic drives are generally well known, why the model equations describing the dominant dynamics may be established with a high level of certainty. To some extend, this is also the case for the model parameters when these are based on data sheet information. However, parameters such as the effective bulk modulus, leakage, external disturbances etc. may be difficult to evaluate, and may furthermore be varying. In regard to control design, linear methods may be difficult to apply and stability margins difficult to evaluate, unless dynamic models are established prior to the control design. This problem may be overcome using adaptive controllers, adjusting themselves to uncertainties/variations. This often shifts the problem from adjusting the controller parameters, to adjusting the parameters of the control parameter adaption mechanism, which in many cases involves a significant number of parameters. This paper considers a novel adaptive control algorithm, theoretically applicable to systems of arbitrary orders, and potentially only with three tuning parameters. The proposed algorithm is considered in relation to the position control of a hydraulic winch drive, and results imply that excellent motion tracking performance may be achieved utilizing only state feedback.
OriginalsprogEngelsk
TitelProceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control
Antal sider7
ForlagAmerican Society of Mechanical Engineers
Publikationsdatookt. 2017
ISBN (Elektronisk)978-0-7918-5833-2
DOI
StatusUdgivet - okt. 2017
BegivenhedASME/BATH 2017 Symposium on Fluid Power & Motion Control - Lido Beach Resport, Sarasota, USA
Varighed: 16 okt. 201719 okt. 2017
http://www.asmeconferences.org/FPMC2017/

Konference

KonferenceASME/BATH 2017 Symposium on Fluid Power & Motion Control
LokationLido Beach Resport
LandUSA
BySarasota
Periode16/10/201719/10/2017
Internetadresse

Fingerprint

Winches
Hydraulics
Hydraulic drives
Controllers
Position control
State feedback
Dynamic models
Tuning
Elastic moduli

Citer dette

Schmidt, L., Andersen, T. O., Pedersen, H. C., & Bech, M. M. (2017). An Arbitrary Order Adaptive Control Structure with Application to a Hydraulic Winch Drive. I Proceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control American Society of Mechanical Engineers. https://doi.org/10.1115/FPMC2017-4267
Schmidt, Lasse ; Andersen, Torben O. ; Pedersen, Henrik Clemmensen ; Bech, Michael Møller. / An Arbitrary Order Adaptive Control Structure with Application to a Hydraulic Winch Drive. Proceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control. American Society of Mechanical Engineers, 2017.
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Schmidt, L, Andersen, TO, Pedersen, HC & Bech, MM 2017, An Arbitrary Order Adaptive Control Structure with Application to a Hydraulic Winch Drive. i Proceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control. American Society of Mechanical Engineers, ASME/BATH 2017 Symposium on Fluid Power & Motion Control, Sarasota, USA, 16/10/2017. https://doi.org/10.1115/FPMC2017-4267

An Arbitrary Order Adaptive Control Structure with Application to a Hydraulic Winch Drive. / Schmidt, Lasse; Andersen, Torben O.; Pedersen, Henrik Clemmensen; Bech, Michael Møller.

Proceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control. American Society of Mechanical Engineers, 2017.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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Schmidt L, Andersen TO, Pedersen HC, Bech MM. An Arbitrary Order Adaptive Control Structure with Application to a Hydraulic Winch Drive. I Proceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control. American Society of Mechanical Engineers. 2017 https://doi.org/10.1115/FPMC2017-4267