Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering

159 Pages·2017·3.996 MB·English

by  Qing Guo, Dan Jiang

Nonlinear Control
Techniques for
Electro-Hydraulic
Actuators in Robotics
Engineering

Nonlinear Control
Techniques for
Electro-Hydraulic
Actuators in Robotics
Engineering
Editedby
Qing Guo and Dan Jiang
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Contents
Foreword...............................................................................ix
Preface..................................................................................xi
ListofFigures.......................................................................xiii
ListofTables ........................................................................xvii
Acknowledgement..................................................................xix
Editors.................................................................................xxi
Contributors........................................................................xxiii
Symbols............................................................................xxvii
1. Introduction.......................................................................1
KyoungKwanAhn,AndrewAlleyne,JamesE.Bobrow,I.Boiko,Fanping
Bu,WenhuaChen,RogerFales,ChengGuan,WeiHe,ZongxiaJiao,
ClaudeKaddissi,AtulKelkar,HassanK.Khalil,WonheeKim,Miroslav
´
Krstic,SongjingLi,GuopingLiu,NoahD.Manring,VladimirMilic,
MortezaMoradi,PrutNakkarat,N.Niksefat,HuihuiPan,YangjunPi,
GangShen,YanShi,XingyongSong,HongSun,WeichaoSun,Ioan
Ursu,JunzhengWang,QingfengWang,ShaopingWang,JianhuaWei,
DaeheeWon,ChifuYang,BinYao,JianyongYao,HongYu,Shuang
Zhang,andZongyuZuo
2. ModelConstructionofElectro-HydraulicControlSystem ..............7
ChungChooChung,CanDu,RogerFales,WonheeKim,NoahD.
Manring,AndrewPlummer,ClaudioSemini,andTianYu
3. LinearPIDControlDesign...................................................17
CanDu,NigelJohnston,NoahD.Manring,AndrewPlummer,Claudio
Semini,MingYang,andTianYu
4. RobustControlMethod ......................................................45
JohnC.Doyle,ChengGuan,VladimirMilic´,andKeminZhou
5. OutputFeedbackControlMethod..........................................69
ChengGuan,WonheeKim,andDaeheeWon
vii
viii Contents
6. ParametricAdaptiveControlMethod......................................97
BrankoG.Celler,WenhuaChen,HuijunGao,WonheeKim,Miroslav
Krstic,KouheiOhnishi,YananQiu,StevenW.Su,ChengwenWang,
DaeheeWon,andPaulZarchan
References...........................................................................121
Index .................................................................................125
Foreword
Iam delighted tointroduce thefirstbook on electro-hydraulic system field.
WhenIundertookaprojectontheLowerLimbExoskeletonintheyear2010,
I was very interested in the electro-hydraulic control system to drive this
complicatedmechatronicsplant.HenceIhavetriedtoinvestigatemanyref-
erencesabouttheadvancedcontroltechniquesusedintheelectro-hydraulic
system by many researchers. In these references, especially with the lack of
high-citedliterature,itindicatedthatmoreandmoreengineersarerequired
to introduce new control ideas into mechanical control plants, not limited
to the traditional PI control method. Especially in certain terrible working
conditions, perhaps PI control has no favorable dynamic performance or
accuracysinceitseffectivemodelisonlytwoorders.Ifthecontrolalgorithm
isnotchanged,wemustselectabettersensororactuator,andotherelements
toreplacethecurrenthardware.Thiswillleadtomorecostandconsumption
ofmorematerial.Thus,weneedtoupdatethecontrolalgorithmandlookfor
bettercontroltechniquestoimprovetheperformanceoftheelectro-hydraulic
system.Basedonthisconcept,nowthatIhavemyattentiononit,itappears
tobeabetterideatospreadsomeadvancedcontroltechniquesappliedinthe
electro-hydrauliccontrolsystem,especiallyintypicalfieldssuchasrobotics
engineeringandfluidtransmissionengineering.
Electro-hydraulic servo actuator started gaining recognition in the 1960s
as a field. This actuator has many obvious advantages than the general
servo motor actuator, such as higher load-bearing and small size-to-power
ratio.Manymechatronicsplantsaboutmulti-DOFmanipulator,crane,space
manipulator, and lower limb of BigDog favor this actuator due to the exis-
tence of large dynamic external load beyond the capability of the servo
motor actuator. Furthermore, the electro-hydraulic servo actuator has high
control accuracy and fast response performance since the supply pressure
can be easily increased. The operation and reliability are also beneficial to
theautomationcontrolsystem.Inaddition,theenergysavingoftheelectro-
hydraulicsystemcanalsoberealizedbysomepumpvalvecombinedcontrol
method.
Fortheresearchersofautomaticcontrolfield,theimportantpurposeisto
apply several control methods into practice. However, different actual con-
trolplantshavedifferentcharacteristics.Thereisnogenericcontrolmethod
superiorlyusedinanyplant.Toaddressdifferentcontrolproblems,thecorre-
spondingcontrolschemeshouldbedesignedandoptimized.Althoughsome
ix