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Niu S, Wang J, Zhao J, Shen W. Neural network-based finite-time command-filtered adaptive backstepping control of electro-hydraulic servo system with a three-stage valve. ISA Trans 2024; 144:419-435. [PMID: 37884424 DOI: 10.1016/j.isatra.2023.10.017] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/07/2023] [Revised: 09/22/2023] [Accepted: 10/13/2023] [Indexed: 10/28/2023]
Abstract
This paper aims to improve the tracking control performance of the three-stage valve (TSV) controlled electro-hydraulic servo system (EHSS) with parameter uncertainties and other lumped unknown nonlinearities, including unknown dynamics and disturbances. A more accurate nonlinear model of the TSV-controlled EHSS is established and a neural network-based finite-time command-filtered adaptive backstepping control (NNFCABC) method is proposed for the EHSS. Adaptive control is used to deal with the system parameter uncertainties, and the radial basis function neural network (RBFNN) algorithm is introduced to approximate the lumped unknown nonlinearities. The prediction errors of serial-parallel estimation models (SPEMs) and the tracking errors are utilized together to design adaptive laws to estimate the system parameters and the weights of the RBFNNs. The entire control framework utilizes command-filtered control and backstepping techniques. By applying Levant differentiators as command filters and introducing fractional power terms into the virtual control laws and the SPEMs, the proposed NNFCABC theoretically guarantees the tracking performance of the closed-loop control system with finite-time convergence. Comparative simulations and experiments verify the feasibility and superiority of the proposed control scheme.
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Affiliation(s)
- Shanshuai Niu
- School of Automation, Beijing Institute of Technology, Beijing 100081, China.
| | - Junzheng Wang
- School of Automation, Beijing Institute of Technology, Beijing 100081, China; MIIT Key Laboratory of Drive and Control of Servo Motion Systems, Beijing Institute of Technology, Beijing 100081, China.
| | - Jiangbo Zhao
- School of Automation, Beijing Institute of Technology, Beijing 100081, China; MIIT Key Laboratory of Drive and Control of Servo Motion Systems, Beijing Institute of Technology, Beijing 100081, China.
| | - Wei Shen
- School of Automation, Beijing Institute of Technology, Beijing 100081, China; MIIT Key Laboratory of Drive and Control of Servo Motion Systems, Beijing Institute of Technology, Beijing 100081, China.
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Feng H, Song Q, Ma S, Ma W, Yin C, Cao D, Yu H. A new adaptive sliding mode controller based on the RBF neural network for an electro-hydraulic servo system. ISA Trans 2022; 129:472-484. [PMID: 35067353 DOI: 10.1016/j.isatra.2021.12.044] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/03/2021] [Revised: 10/25/2021] [Accepted: 12/15/2021] [Indexed: 05/13/2023]
Abstract
Accuracy and robust trajectory tracking for electro-hydraulic servo systems in the presence of load disturbances and model uncertainties are of great importance in many fields. In this work, a new adaptive sliding mode control method based on the RBF neural networks (SMC-RBF) is proposed to improve the performances of a robotic excavator. Model uncertainties and load disturbances of the electro-hydraulic servo system are approximated and compensated using the RBF neural networks. Adaptive mechanisms are designed to adjust the connection weights of the RBF neural networks in real time to guarantee the stability. A nonlinear term is introduced into the sliding mode to design an adaptive terminal sliding mode control structure to improve dynamic performances and the convergence speed. Moreover, a sliding mode chattering reduction method is proposed to suppress the chattering phenomenon. Three types of step, ramp and sine signals are used as the simulation reference trajectories to compare different controllers on a co-simulation platform. Experiments with leveling and triangle conditions are presented on a robotic excavator. Results show that the proposed SMC-RBF controller is superior to existing proportional integral derivative (PID) and sliding mode controller (SMC) in terms of tracking accuracy and disturbance rejection.
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Affiliation(s)
- Hao Feng
- School of Artificial Intelligence, Nanjing University of Information Science & Technology, Nanjing 210044, China.
| | - Qianyu Song
- School of Artificial Intelligence, Nanjing University of Information Science & Technology, Nanjing 210044, China
| | - Shoulei Ma
- United Institute of Excavator Key Technology, Nanjing Tech University, Nanjing 211816, China
| | - Wei Ma
- United Institute of Excavator Key Technology, Nanjing Tech University, Nanjing 211816, China
| | - Chenbo Yin
- United Institute of Excavator Key Technology, Nanjing Tech University, Nanjing 211816, China
| | | | - Hongfu Yu
- SANY Group Co., Ltd., Suzhou 215300, China
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Jing C, Xu H, Jiang J. Practical torque tracking control of electro-hydraulic load simulator using singular perturbation theory. ISA Trans 2020; 102:304-313. [PMID: 32151393 DOI: 10.1016/j.isatra.2020.02.035] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/07/2019] [Revised: 02/25/2020] [Accepted: 02/29/2020] [Indexed: 06/10/2023]
Abstract
Nonlinear and high-order characteristics could directly hinder the application of many advanced control algorithms for electro-hydraulic system which is a coupling system with double-dynamics of mechanical and hydraulic components. In this paper, a practical torque tracking control using singular perturbation theory is proposed for electro-hydraulic load simulator. The system model is transformed into a singularly perturbed form including a slow mechanical system and a fast hydraulic system. To achieve high accuracy and strong robustness, an active disturbance rejection control based on desired model compensation is developed for the slow mechanical system. It is proved that the mechanical system with developed slow controller is exponentially stable. A proportional control law is employed for the fast hydraulic system. This hydraulic system with developed fast controller is demonstrated to be exponentially stable. Stability of the whole closed-loop system is theoretically analyzed using the extended Tikhonov's theorem. Experimental results validate the presented control scheme.
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Affiliation(s)
- Chenghu Jing
- School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China
| | - Hongguang Xu
- School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China.
| | - Jihai Jiang
- School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China
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Zhao J, Wang Z, Yang T, Xu J, Ma Z, Wang C. Design of a novel modal space sliding mode controller for electro-hydraulic driven multi-dimensional force loading parallel mechanism. ISA Trans 2020; 99:374-386. [PMID: 31558285 DOI: 10.1016/j.isatra.2019.09.018] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/12/2018] [Revised: 09/17/2019] [Accepted: 09/18/2019] [Indexed: 06/10/2023]
Abstract
The electro-hydraulic driven multi-dimensional force loading parallel mechanism can meet the requirements of complex force loading. However, the force loading performance is affected by the strong dynamic coupling due to flexible load and structure characteristics of parallel mechanism, which is analyzed from the mathematical model built by the Newton-Euler method. In order to solve the coupling problem, a novel control strategy, modal space sliding mode control, is proposed. It can realize multi-dimensional force loading decoupling by a coordinating modal space controller. The modal space control framework is established based on the vibration theory, and the decoupling characteristics of modal space are analyzed. Furthermore, it is discussed that the consistency of modal space channels is required for the decoupling condition in degree of freedom space. In order to improve the tracking performance of modal space channels, a sliding mode controller is designed in the modal space by using the decoupling property of modal space. The modal space sliding mode controller not only reduces the chattering caused by coupling force, but also greatly improves the dynamic performance of modal space channels, as well as the consistency of modal space channels. The stability condition of the modal space sliding mode controller is given and proved by Lyapunov theorem. The experimental results show the effectiveness of the proposed modal space sliding mode control, which can significantly reduce coupling force and improve the dynamic tracking performance.
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Affiliation(s)
- Jinsong Zhao
- Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, 066004, China; State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310013, China; School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China; Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao, 066004, China.
| | - Zhipeng Wang
- Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, 066004, China; School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Tao Yang
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Jiaxiang Xu
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Zhilei Ma
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Chunfa Wang
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
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Zhao J, Wang Z, Zhang C, Yang C, Bai W, Zhao Z. Modal space three-state feedback control for electro-hydraulic servo plane redundant driving mechanism with eccentric load decoupling. ISA Trans 2018; 77:201-221. [PMID: 29661548 DOI: 10.1016/j.isatra.2018.04.002] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/14/2017] [Revised: 03/08/2018] [Accepted: 04/06/2018] [Indexed: 06/08/2023]
Abstract
The shaking table based on electro-hydraulic servo parallel mechanism has the advantage of strong carrying capacity. However, the strong coupling caused by the eccentric load not only affects the degree of freedom space control precision, but also brings trouble to the system control. A novel decoupling control strategy is proposed, which is based on modal space to solve the coupling problem for parallel mechanism with eccentric load. The phenomenon of strong dynamic coupling among degree of freedom space is described by experiments, and its influence on control design is discussed. Considering the particularity of plane motion, the dynamic model is built by Lagrangian method to avoid complex calculations. The dynamic equations of the coupling physical space are transformed into the dynamic equations of the decoupling modal space by using the weighted orthogonality of the modal main mode with respect to mass matrix and stiffness matrix. In the modal space, the adjustments of the modal channels are independent of each other. Moreover, the paper discusses identical closed-loop dynamic characteristics of modal channels, which will realize decoupling for degree of freedom space, thus a modal space three-state feedback control is proposed to expand the frequency bandwidth of each modal channel for ensuring their near-identical responses in a larger frequency range. Experimental results show that the concept of modal space three-state feedback control proposed in this paper can effectively reduce the strong coupling problem of degree of freedom space channels, which verify the effectiveness of the proposed model space state feedback control strategy for improving the control performance of the electro-hydraulic servo plane redundant driving mechanism.
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Affiliation(s)
- Jinsong Zhao
- Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, 066004, China; Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao, 066004, China; School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Zhipeng Wang
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Chuanbi Zhang
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Chifu Yang
- Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, China.
| | - Wenjie Bai
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Zining Zhao
- School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China
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Guo Q, Yu T, Jiang D. Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system. ISA Trans 2015; 59:55-64. [PMID: 26478475 DOI: 10.1016/j.isatra.2015.09.014] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/07/2014] [Revised: 03/17/2015] [Accepted: 09/14/2015] [Indexed: 06/05/2023]
Abstract
In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability.
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Affiliation(s)
- Qing Guo
- School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China; Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, BA2 7AY, Bath, UK.
| | - Tian Yu
- Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, BA2 7AY, Bath, UK.
| | - Dan Jiang
- School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China.
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