کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5004630 | 1368988 | 2014 | 8 صفحه PDF | دانلود رایگان |
- We propose and model a novel structure for electro-hydraulic force control systems.
- Force tracking quality and system efficiency are improved in this structure.
- Model of the system is linearized and a robust control algorithm is designed for linear system using LMI.
- Model linearization uncertainties are approximated by a polytope.
- The overall closed-loop system demonstrates acceptable tracking performance.
Electro-hydraulic servo systems (EHSS) are used in many industrial applications for position and force control. Force control with a hydraulic actuator is challenging and requires complicated control algorithms used along with high crossover frequency electro-hydraulic valves, even for simple force control tasks. In this paper, a different hydraulic structure is proposed to improve the force tracking quality and increase efficiency in the EHSS. This comes at the cost of a new model with linearization and uncertainty challenges. To address these challenges, a robust Hâ control design approach is followed to control the proposed EHSS. Model linearization uncertainties are approximated by a polytope and a robust controller is designed to keep the system stable and satisfy the Hâ performance conditions within this polytope. Experimental results verify that the objectives of the paper are satisfied after using the proposed system.
Journal: ISA Transactions - Volume 53, Issue 6, November 2014, Pages 1873-1880