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Regulator and tracking system design for a single-rod hydraulic actuator via pole-placement approach

Moradi, H ; Sharif University of Technology | 2011

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2011-62852
  3. Publisher: 2011
  4. Abstract:
  5. Due to the nonlinear dynamics of hydraulic systems, applying high performance closed-loop controllers is complicated. In this paper, a single-rod hydraulic actuator is considered in which load displacement (for positioning purposes) is controlled via manipulation of the input voltage to the servo-valve. Dynamics of the servo-valve is described by first and second order transfer functions (named as Models 1 and 2). Through linearization of the system around its operating points, dynamics of the hydraulic actuator is represented in the state space. A full-order observer is designed for on-line states estimation. Then, feedback control system is designed for both regulation and tracking objectives through pole-placement approach based on general canonical control form (GCCF). For tracking of the desired commands, a modified integral control is required (since the plant has not integrator). Results show that the regulation, states estimation, desired tracking and final tracking accuracy are achieved after applying the controller. Required input voltage and load positioning are compared for the two distinct dynamics of the servo-valve (Model 1 and 2)
  6. Keywords:
  7. States estimation ; Tracking ; Closed loop controllers ; Full-order observer ; Hydraulic system ; Input voltages ; Integral control ; Load displacements ; On-line state ; Operating points ; Pole placement ; Regulation ; Second orders ; Servo-valve ; Single-rod ; State space ; Tracking accuracy ; Tracking system ; Adaptive control systems ; Dynamics ; Estimation ; Exhibitions ; Hydraulic equipment ; Intelligent mechatronics ; Mechanical engineering ; Poles ; Surface discharges ; Hydraulic actuators
  8. Source: ASME 2011 International Mechanical Engineering Congress and Exposition, IMECE 2011, 11 November 2011 through 17 November 2011 ; Volume 7, Issue PARTS A AND B , November , 2011 , Pages 173-181 ; 9780791854938 (ISBN)
  9. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1644313