Design of a Nonlinear Adaptive Controller for an Electrohydraulic Actuator1

Author:

Ziaei K.1,Sepehri N.1

Affiliation:

1. Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Industrial Engineering, The University of Manitoba, Winnipeg, Manitoba, Canada R3T-5V6

Abstract

This paper presents a new implementation of indirect model reference adaptive (MRA) control scheme for positioning of hydraulic actuators that operate by low-cost proportional valves. A proper linear discrete-time plant model is used which has dead-time and no zeros, eliminating the possibility of unstable pole-zero cancellation. The robustness of the parameter adaptation is achieved by employing the recursive least-squares algorithm in combination with a dead-zone in the adaptive law. It is shown that while the controller is adequate for hydraulic valves with linear flow characteristics, it exhibits low performance in the presence of deadband and nonlinear orifice opening characteristics of low-cost proportional valves. The linear plant model is therefore augmented by adding a static nonlinearity. The resulting nonlinear MRA controller is shown to have improved performance over its linear counterpart. Step-by-step experiments are presented to confirm the effectiveness and performance improvement of the proposed method.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Cited by 19 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3