A low order adaptive control scheme for hydraulic servo systems

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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.
Original languageEnglish
Title of host publicationProceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM)
Number of pages5
PublisherIEEE Press
Publication dateAug 2015
Pages1148-1152
ISBN (Print)978-1-4799-8770-2
DOIs
Publication statusPublished - Aug 2015
Event2015 International Conference on Fluid Power and Mechatronics (FPM) - Harbin, China
Duration: 5 Aug 20157 Aug 2015

Conference

Conference2015 International Conference on Fluid Power and Mechatronics (FPM)
CountryChina
CityHarbin
Period05/08/201507/08/2015

Fingerprint

Servomechanisms
Hydraulics
Torque control
Manipulators
Controllers
Position control
System stability
Robotics
Feedback

Keywords

  • Hydraulic manipula
  • Velocity feedforward
  • Computed Torque Control
  • Adaptive Inverse Dynamics Control

Cite this

Andersen, T. O., Pedersen, H. C., Bech, M. M., & Schmidt, L. (2015). A low order adaptive control scheme for hydraulic servo systems. In Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM) (pp. 1148-1152 ). IEEE Press. https://doi.org/10.1109/FPM.2015.7337292
Andersen, Torben Ole ; Pedersen, Henrik Clemmensen ; Bech, Michael Møller ; Schmidt, Lasse. / A low order adaptive control scheme for hydraulic servo systems. Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM). IEEE Press, 2015. pp. 1148-1152
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Andersen, TO, Pedersen, HC, Bech, MM & Schmidt, L 2015, A low order adaptive control scheme for hydraulic servo systems. in Proceedings of the 2015 International Conference on Fluid Power and Mechatronics (FPM). IEEE Press, pp. 1148-1152 , 2015 International Conference on Fluid Power and Mechatronics (FPM), Harbin, China, 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; Schmidt, Lasse.

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

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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