Non-Minimum Phase Model of Vertical Position Electro-Hydraulic Cylinder for Trajectory Zpetc

Hydraulic actuator has been widely used in industrial applications due to its fast response and capability of moving heavy load. The nonlinear properties of hydraulic cylinder had challenged researchers to design a suitable controller for position control, motion control and tracking control. Based on these problems, we had done a real-time digital tracking control studies on electro- hydraulic cylinder using trajectory zero phase error tracking control (ZPETC) without factorization of zeros polynomial algorithm. With the proposed strategy, the controller parameters are determined using comparing coefficients methods. The electro-hydraulic system mathematical model is approximated using system identification technique with non-minimum phase system being considered. The real-time experimental result will be compared with simulation result using a model from a real plant.

[1]  Bruce H. Wilson,et al.  Improved Tracking Control of Hydraulic Systems , 2001 .

[2]  Manabu Yamada,et al.  Generalized Optimal Zero Phase Error Tracking Controller Design , 1999 .

[3]  Ioan D. Landu.  System identification and control design using P.I.M.+ software , 1990 .

[4]  Masayoshi Tomizuka,et al.  Robust adaptive and repetitive digital tracking control and application to a hydraulic servo for noncircular machining , 1994 .

[5]  M. Mustafa,et al.  Trajectory-adaptive digital tracking controllers for non-minimum phase systems without factorisation of zeros , 2002 .

[6]  M. Saad,et al.  Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping , 2007, IEEE/ASME Transactions on Mechatronics.

[7]  Jan Swevers,et al.  Erratum: “Extended Bandwidth Zero Phase Error Tracking Control of Nonminimum Phase Systems” (Journal of Dynamic Systems, Measurement, and Control, 1992, 114, pp. 347–351) , 1992 .

[8]  Masayoshi Tomizuka,et al.  The Effect of Adding Zeroes to Feedforward Controllers , 1991 .

[9]  Pau-Lo Hsu,et al.  An optimal and adaptive design of the feedforward motion controller , 1999 .

[10]  Hyung-Soon Park,et al.  Concurrent Design of Continuous Zero Phase Error Tracking Controller and Sinusoidal Trajectory for Improved Tracking Control , 2001 .

[11]  Wen-Hong Zhu,et al.  Adaptive Output Force Tracking Control of Hydraulic Cylinders With Applications to Robot Manipulators , 2005 .

[12]  Juhng-Perng Su,et al.  Sliding mode control with varying boundary layers for an electro-hydraulic position servo system , 2005 .

[13]  Masayoshi Tomizuka,et al.  Zero Phase Error Tracking Algorithm for Digital Control , 1987 .

[14]  Jianying Lin,et al.  Model Identification and Control of Electro-hydraulic Position Servo System , 2009, 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics.

[15]  M. B. Zarrop,et al.  Book Review: Computer Controlled Systems: theory and design (3rd Ed.) , 1998 .

[16]  J. Z. Xia,et al.  Precision tracking control of non-minimum phase systems with zero phase error , 1995 .

[17]  Qiang Liu,et al.  Tracking Control of Nonminimal Phase System Without using Preview Information of the Desired Output , 2007, 2007 International Conference on Machine Learning and Cybernetics.

[18]  Karl Johan Åström,et al.  Computer-Controlled Systems: Theory and Design , 1984 .

[19]  Masayoshi Tomizuka,et al.  On the design of digital tracking controllers , 1993 .