Approaching Servoclass Tracking Performance by a Proportional Valve-Controlled System

An industry-grade proportional valve is much cheaper and rugged than a servovalve. A feedforward controller for a proportional valved system has been developed here to achieve tracking controls beyond 1 Hz that are usually attained by servovalves. For compensating the higher nonlinearities, feedforward controllers have been designed offline by proposing appropriate static models for friction and valve flow and executing the supporting experiments. These controllers have been implemented with real-time PID feedback of only the piston displacement. Excellent tracking performance has been obtained up to 2 Hz that has deteriorated with an increase in cylinder friction.

[1]  Bin Mu,et al.  On modeling, identification, and control of a heavy-duty electrohydraulic harvester manipulator , 2003 .

[2]  Carlos Canudas de Wit,et al.  A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[3]  H Qiu,et al.  Feedforward-plus-proportional-integral-derivative controller for an off-road vehicle electrohydraulic steering system , 2003 .

[4]  Bruce H. Wilson,et al.  Unified modeling and analysis of a proportional valve , 2006, J. Frankl. Inst..

[5]  J A Ferreira,et al.  Semi-empirical model for a hydraulic servo-solenoid valve , 2002 .

[6]  Xuanyin Wang,et al.  Observer-based cascade control of a 6-DOF parallel hydraulic manipulator in joint space coordinate , 2010 .

[7]  John Watton,et al.  Fundamentals of Fluid Power Control: Contents , 2009 .

[8]  Kok-Meng Lee,et al.  A two-mode six-DOF motion system based on a ball-joint-like spherical motor for haptic applications , 2012, Comput. Math. Appl..

[9]  N. Hafizah,et al.  Modeling of dynamic friction behaviors of hydraulic cylinders , 2012 .

[10]  Kenjiro Takemura,et al.  Design and control of an ultrasonic motor capable of generating multi-DOF motion , 2001 .

[11]  Sohel Anwar,et al.  Positive flow control of closed-center electrohydraulic implement-by-wire systems for mobile equipment applications ☆ , 2004 .

[12]  Jinoh Lee,et al.  An experimental study on time delay control of actuation system of tilt rotor unmanned aerial vehicle , 2012 .

[13]  Elizabeth A. Croft,et al.  The reduction of stick-slip friction in hydraulic actuators , 2003 .

[14]  James E. Bobrow,et al.  Experiments and simulations on the nonlinear control of a hydraulic servosystem , 1999, IEEE Trans. Control. Syst. Technol..

[15]  Clarence W. de Silva,et al.  Tracking control of an electrohydraulic manipulator in the presence of friction , 1998, IEEE Trans. Control. Syst. Technol..

[16]  Hideyuki Ando,et al.  Application of a multi-DOF ultrasonic servomotor in an auditory tele-existence robot , 2005, IEEE Transactions on Robotics.

[17]  Hungsun Son,et al.  Optimization of Measuring Magnetic Fields for Position and Orientation Tracking , 2011, IEEE/ASME Transactions on Mechatronics.

[18]  Ravinder Venugopal,et al.  Feedback linearization based control of a rotational hydraulic drive , 2007 .