Self-tuning quantitative feedback theory for parallel force/position control of electro-hydrostatic actuators

Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

Volumn 223, Issue 4, 2009, Pages 537-556

  Truong, D Q ^a   Ahn, K K ^a  

^a University of Ulsan   (South Korea)

Author keywords

Force control; Hydraulic system; Position control; Quantitative feedback theory (QFT); Robust control

Indexed keywords

CONTROL FORCE; CONTROL PERFORMANCE; ELECTRO-HYDROSTATIC ACTUATORS; EXPERIMENTAL SYSTEM; GRADIENT DESCENT METHOD; HIGH DURABILITY; HIGH PRECISION; HYDRAULIC POWER SYSTEMS; HYDRAULIC SYSTEM; HYDROSTATIC LOADS; PARALLEL CONTROL; PARALLEL FORCE/POSITION CONTROL; POSITION CONTROLLER; QUANTITATIVE FEEDBACK THEORY; QUANTITATIVE FEEDBACK THEORY (QFT); SELFTUNING; SPEED-UP; SYSTEM ERRORS; WORKING CONDITIONS;

ACTUATORS; CONTROLLERS; ELECTRIC MACHINERY; FEEDBACK; FORCE CONTROL; HYDRAULIC EQUIPMENT; HYDRAULICS; HYDRODYNAMICS; MOTORS; ROBUST CONTROL; TUNING;

POSITION CONTROL;

EID: 67650294073     PISSN: 09596518     EISSN: None     Source Type: Journal    
DOI: 10.1243/09596518JSCE700     Document Type: Article

References (31)

1. Moog Engineers. Available from http://www. moog.com/home/, Moog Inc., East Aurora, NY.
2. Rahmfeld, R. and Ivantysynova, M. Displacement controlled linear actuator with differential cylinder: a way to save primary energy in mobile machines. In Proceedings of the 5th International Conference on Fluid power transmission and control, Hangzhou, China, 2001, pp. 316-322.
3. Su, D. and Wang, Y. Development of electrohydraulic load simulator with high precision. In Proceedings of the 5th International Conference on Fluid power transmission and control, Hangzhou, China, 2001, pp. 4-8.
4. Li, Y. Development of hybrid control of electrohydraulic torque load simulator. ASME J. Dynamic Systems, Measmt Control, 2002, 124(3), 415-419.
5. Mare, J. C. Dynamic loading systems for ground testing of high speed aerospace actuators. Int. J. Aircraft Engng and Aerospace Technol, 2006, 78(4), 275-282.
6. Grabbel, J. On the control of joint integrated servo actuators for mobile handling and robotic applications. In Proceedings of the 1st FPNI-PhD Symposium, Hamburg, 2000, pp. 449-465.
7. Rito, G. D. Experimental implementation of a motion-compensated force control in a hydraulic workbench for flight actuators. In Proceedings of the International Conference on Recent advances in aerospace actuation systems and components, Insa Toulouse, France, 2007, pp. 51-59.
8. nd International Fluidtechnisches Kolloquium, Dresden, 2000, pp. 149-162.
9. Andersson, J., Krus, P., and Wallace, D. Multiobjective optimization of hydraulic actuation systems. In Proceedings of ASME Design automation Conference, Baltimore, USA, 2000, pp. 11-13.
10. Guo, B., Wang, M. Y., and Zhang, J. A dynamic fuzzy neural networks controller for dynamic load simulator. In Proceedings of the Fifth International Conference on Machine learning and cybernetics, Dalian, 2006, pp. 375-379.
11. Chen, Y. N., Lee, B. C., and Tseng, C. H. A. Variable-structure controller design for an electrohydraulic force control servo system. J. Chin. Soc. Mech. Engrs, 1990, 11(6), 520-526.
12. Wu, G., Sepehri, N., and Ziaei, K. Design of a hydraulic force motion control system using a generalized predictive control algorithm. IEE Proc. Control Theory Applic., 1998, 145(5), 428-436.
13. Conrad, F. and Jensen, C. J. D. Design of hydraulic force control systems with state estimate feedback. In Proceedings of the IFAC 10th Triennial Congress, Munich, Germany, 1987, pp. 307-312.
14. Ahn, K. K., Truong, D. Q., Thanh, T. Q., and Lee, B. R. Online self-tuning fuzzy proportional-integral-derivative control for hydraulic load simulator. Proc. IMechE, Part I: J. Systems and Control Engineering, 2008, 222(I2), 81-95. DOI: 10.1243/ 09596518JSCE484.
15. Yao, B., Bu, F., Reedy, J., and Chiu, G. Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments. IEEE/ASME Trans. Mechatronics, 2000, 5(1), 79-91.
16. Horowitz, I. M. Quantitative feedback design theory (QFT), 1992 (QFT, Boulder, CO).
17. Leahy, M. B., Bossert, D. E., and Whalen, P. V. Model-based control with quantitative feedback theory. In Proceedings of IEEE International Conference on Robotics and automation, 1990, 1, pp. 1982-1987.
18. Thompson, D., Pruyn, J. S., and Shukla, A. Feedback design for robust tracking and robust stiffness in flight control actuators using modified QFT technique. In Proceedings of ACC Conference, San Diego, CA, 1999, pp. 754-758.
19. Rober, S. J., Shin, Y. C., and Nwokah, O. D. I. A digital robust controller for cutting force control in the end milling process. ASME J. Dynamic System, Measmt Control, 1997, 119(2), 146-152.
20. Nam, Y. QFT force loop design for the aerodynamic load simulator. IEEE Trans. Aerospace Electronic Systems, 2001, 3(4), 1384-1392.
21. Niksefat, N. and Sepehri, N. Robust force controller design for a hydraulic actuator based on experimental input-output data. In Proceedings of the American Control Conference, 1999 vol. 5, pp. 3718-3722.
22. Thompson, D. F. and Kremer, G. G. Quantitative feedback design for a variable-displacement hydraulic vane pump. In Proceedings of the American Control Conference, 1997 vol. 2, pp. 1061-1065.
23. Ahn, K. K., Chau, N. H. T., and Truong, D. Q. Robust force control of a hybrid actuator using quantitative feedback theory. J. Mech. Sci. Technol., 2007, 21, 2048-2058.
24. Ferreira, J. A., Sun, P., and Gracio, J. J. Design and control of a hydraulic press. In Proceedings of the 2006 IEEE Conference on Computer aided control systems design, Munich, Germany, 2006, pp. 814-819.
25. Kudomi, S., Yamada, H., and Muto, T. Development of a hydraulic master-slave system for telerobotics. In Proceedings of First FPNI-PhD Symposium, Hamburg, 2000, pp. 467-474.
26. Nguyen, Q. H., Ha, Q. P., Rye, D. C., and Durrant-Whytel, H. F. Force/position tracking for electrohydraulic systems of a robotic excavator. In Proceedings of the 39th IEEE Conference on Decision and control, Sydney, Australia, 2000, pp. 5224-5229.
27. Dunnigan, M. W., Lane, D. M., Clegg, A. C., and Edwards, I. Hybrid position/force control of a hydraulic underwater manipulator. IEE Proc. Control Theory Appl., 1996, 143(2), 145-151.
28. Siciliano, B. and Villani, L. Parallel force and position control of flexible manipulators. IEE Proc. Control Theory Appl., 2000, 147(6), 605-612.
29. D'Azzo, J. J. and Houpis, C. H. Linear control system analysis and design, 1998 (McGraw Hill, New York).
30. Lennart, L. System identification toolbox - for use with MATLAB, 1995 (The Mathworks Inc., Natick, Massachusetts).
31. Sanada, K. A study on a full-electric control system of a hydro static transmission for construction machines. SICE Annual Conference, Sapporo, Japan, 2004, pp. 561-565.