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

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

Abstract

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.
Original languageEnglish
Title of host publicationProceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control
Number of pages7
PublisherAmerican Society of Mechanical Engineers
Publication dateOct 2017
ISBN (Electronic)978-0-7918-5833-2
DOIs
Publication statusPublished - Oct 2017
EventASME/BATH 2017 Symposium on Fluid Power & Motion Control - Lido Beach Resport, Sarasota, United States
Duration: 16 Oct 201719 Oct 2017
http://www.asmeconferences.org/FPMC2017/

Conference

ConferenceASME/BATH 2017 Symposium on Fluid Power & Motion Control
LocationLido Beach Resport
CountryUnited States
CitySarasota
Period16/10/201719/10/2017
Internet address

Fingerprint

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

Cite this

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. In 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. in 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, United States, 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.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-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. In Proceedings of ASME/Bath 2017 Symposium on Fluid Power & Motion Control. American Society of Mechanical Engineers. 2017 https://doi.org/10.1115/FPMC2017-4267