Fuzzy Feedback Control for Electro-Hydraulic Actuators

Electro-hydraulic actuators(EHA)have recently played a significant role in modern industrial applications,especially in systems requiring extremely high precision.This can be explained by EHA’s ability to precisely control the position and force through advanced sensors and innovative control algorithms.One of the promising approaches to improve control accuracy for EHA systems is applying classical to modern control algorithms,in which the proportional–inte-gral–derivative(PID)algorithm,fuzzy logic controller,and a hybrid of these methods are popular options.In this paper,we developed a novel version of the fuzzy control algorithm and linear feedback control method,namely fuzzy lin-ear feedback control,to improve the control performance.To achieve the highest performance,wefirst designed a mathematical EHA model based on the Matlab/Simulink software packages thanks to the selected parameters,which are similar to a real EHA system.Then,we respectively applied PID,fuzzy PID(FPID),and fuzzy linear feedback control(FLFC)before comparing them to have a full view of the outstanding advantages of the proposed algorithm.The simulation results showed that the proposed FLFC algorithm is approximately 99%and 77%super-ior in performance to the PID and feedback control algorithms,respectively.

PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

A proportional integral derivative （PID） controller is designed and attached to electro-hydraulic servo actuator system （EHSAS） to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm （GA）. The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller.

RESEARCH ON THE ENERGY ECONOMIZATION OF ELECTRO-HYDRAULIC HAMMER

The research on the driving principle and economization of energy of electro-hydraulic hammer is discussed. By means of the balance chart of energy, the method and formulas to calculate every level efficiency and the total efficiency of steam drived hammer are formed.With the aid of actual data of plants,the actual efficiency of steam drived hammer is got. The working principle and the driving system of electro-hydraulic hammer are introduced. The procedure of energy energy of this hammer is analyzed. The utilization ratio of energy of this type of hammer is got. It is shown that the efficiency of electro-hydraulic hammer is 7 times as much as that of steam drived hammer.

Output Waveform Analysis of an Electro-hydraulic Vibrator Controlled by the Multiple Valves

The existing research of the electro-hydraulic vibrator mainly focuses on system stability, working frequency width and output waveform distortion. However, this high frequency performance of the electro-hydraulic vibrator is difficult to be improved greatly due to fast insufficiently frequency response of the servo valve itself and limited compensation capability of the control structure in the vibrator system. In this paper, to realize high frequency vibration, an improved two-dimensional valve （here within defined as a 2D valve） as a main control component is adopted to the parallel connection with a servo valve to control the electro-hydraulic vibrator, Because the output waveforms of this electro-hydraulic vibrator are incapable to be verified through timely feedback as in the conventional electro-hydraulic servo system, the analysis to the output waveform becomes crucial to the design and control of the electro-hydraulic vibrator. The mathematical models of hydraulic actuation mechanism and the orifice area of the parallel valves connection are established first. And then the vibration process is divided into two sections in terms of the direction of the flow, the analytical expression of the excited waveform is solved. Based on relationships exist between working states and the control parameters the analytical results, the vibration boundary positions and the are derived. Finally an experimental system was built to validate the theoretical analysis. It is verified that this electro-hydraulic vibration system could achieve high working frequency, up to 2 000 Hz. The excited waveform is similar to the sinnsoidal waveform. And the ascent and decent slopes of the waveforms are somewhat asymmetrical. This asymmetry is not only caused by the change of the direction of the elastic force but also dependent on the bias position of the vibration. Consequentky the distortion of effective working waveform is less tha~ 10%. This electro-hydraulic vibrator controlled by the multiple valves could not only greatly enhance the working frequency but also precisely control the vibration characteristic variables such as waveform shape.

Fuzzy iterative learning control of electro-hydraulic servo system for SRM direct-drive volume control hydraulic press

A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant nonlinearity exist in the volume control electro-hydraulic servo system,the ILC(iterative learning control) method is applied to tracking the displacement curve of the hydraulic press slider.In order to improve the convergence speed and precision of ILC,a fuzzy ILC algorithm that utilizes the fuzzy strategy to adaptively adjust the iterative learning gains is put forward.The simulation and experimental researches are carried out to investigate the convergence speed and precision of the fuzzy ILC for hydraulic press slider position tracking.The results show that the fuzzy ILC can raise the iterative learning speed enormously,and realize the tracking control of slider displacement curve with rapid response speed and high control precision.In experiment,the maximum tracking error 0.02 V is achieved through 12 iterations only.

Separate Control of High Frequency Electro-hydraulic Vibration Exciter

The working frequency of the conventional electro-hydraulic vibration exciters,which consist of a servo valve and a hydraulic cylinder,is generally restricted within a narrow range due to limited frequency response capability of the servo valve itself.To counteract such restriction,a novel scheme for an electro-hydraulic vibrator,controlled by a two-dimensional valve（2D valve） and a bias valve in parallel,is therefore proposed.The frequency,amplitude and offset are independently controlled by rotary speed,axial sliding of the spool of the 2D valve and axial sliding of the spool of the bias valve.The principle of separate control was presented and the regulation approach of frequency,amplitude and offset was discussed.A mathematical model of the hydraulic power mechanism for the proposed vibration exciter was established to investigate the relationship between the amplitude and the axial sliding of the 2D valve＇ spool,as well as that between the offset and the axial sliding of the bias valve＇s spool at various frequencies.An experimental system was built to validate the theoretical analysis.It is verified that the 2D exciter is capable of working smoothly in a frequency range of 5- 200 Hz.And its frequency,amplitude and offset can be controlled respectively by either closed loop or open loop method.There is a linear relationship between the output amplitude and the spool axial opening of the 2D valve until a point when the flow rate becomes saturate and the amplitude remains constant.The offset displacement of the cylinder＇s piston is linearly proportional to the axial displacement of the spool of the bias valve,when the valve opening is less than 25%.Thereafter,the slop of the offset curve decreases and tends to saturate.The proposed electro-hydraulic vibration controlled by the 2D valve not only facilitates the realization of high-frequency electro-hydraulic vibration,the high-accuracy of vibration can also be achieved by means of independent controls to the frequency,amplitude and offset.

New Method to Improve Dynamic Stiffness of Electro-hydraulic Servo Systems

Most current researches working on improving stiffness focus on the application of control theories.But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated,so the control action is lagged.Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms.In this paper,the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed.On this basis,the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward.And a scheme using double servo valves to realize flow feedforward compensation is presented,in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time.The two valves are arranged in parallel to control the cylinder jointly.Furthermore,the model of flow compensation is derived,by which the product of the amplitude and width of the valve’s pulse command signal can be calculated.And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations.Using the proposed scheme,simulations and experiments at different positions with different force changes are conducted.The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time.That is,system dynamic load stiffness is evidently raised.This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

Present Status and Prospect of High-Frequency Electro-hydraulic Vibration Control Technology

Electro-hydraulic vibration equipment(EHVE)is widely used in vibration environment simulation tests,such as vehicles,weapons,ships,aerospace,nuclear industries and seismic waves replication,etc.,due to its large output power,displacement and thrust,as well as good workload adaptation and multi-controllable parameters.Based on the domestic and overseas development of high-frequency EHVE,dividing them into servo-valve controlled vibration equipment and rotary-valve controlled vibration equipment.The research status and progress of high-frequency electro-hydraulic vibration control technology(EHVCT)are discussed,from the perspective of vibration waveform control and vibration controller.The problems of current electro-hydraulic vibration system bandwidth and waveform distortion control,stability control,offset control and complex vibration waveform generation in high-frequency vibration conditions are pointed out.Combining the existing rotary-valve controlled high-frequency electro-hydraulic vibration method,a new twin-valve independently controlled high-frequency electro-hydraulic vibration method is proposed to break through the limitations of current electro-hydraulic vibration technology in terms of system frequency bandwidth and waveform distortion.The new method can realize independent adjustment and control of vibration waveform frequency,amplitude and offset under high-frequency vibration conditions,and provide a new idea for accurate simulation of high-frequency vibration waveform.

Disturbance observer based position tracking of electro-hydraulic actuator

A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.

Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

Friction characteristics of a new type of continuous rotary electro-hydraulic servomotor applied to simulator

The principle of a new type of no-pulsation continuous rotary electro-hydraulic servomotor applied to simulators is introduced. LuGre friction model was analyzed. The identification method of LuGre parameters was proposed, and the measures to compensate the effect of friction forces were given. A friction torque model for the new rotary motor was proposed. The low-speed response and step response of the motor were studied experimentally. Experimental results proved that using friction compensation could eliminate stick-slip motion at the low speed, which makes the servomotor applicable to simulators.

Characteristics Prediction Method of Electro-hydraulic Servo Valve Based on Rough Set and Adaptive Neuro-fuzzy Inference System

Synthesis characteristics of the electro-hydraulic servo valve are key factors to determine eligibility of the hydraulic production. Testing all synthesis characteristics of the electro-hydraulic servo valve after assembling leads to high repair rate and reject rate, so accurate prediction for the synthesis characteristics in the industrial production is particular important in decreasing the repair rate and the reject rate of the product. However, the research in forecasting synthesis characteristics of the electro-hydraulic servo valve is rare. In this work, a hybrid prediction method was proposed based on rough set（RS） and adaptive neuro-fuzzy inference system（ANFIS） in order to predict synthesis characteristics of electro-hydraulic servo valve. Since the geometric factors affecting the synthesis characteristics of the electro-hydraulic servo valve are from workers＇ experience, the inputs of the prediction method are uncertain. RS-based attributes reduction was used as the preprocessor, and then the exact geometric factors affecting the synthesis characteristics of the electro-hydraulic servo valve were obtained. On the basis of the exact geometric factors, ANFIS was used to build the final prediction model. A typical electro-hydraulic servo valve production was used to demonstrate the proposed prediction method. The prediction results showed that the proposed prediction method was more applicable than the artificial neural networks（ANN） in predicting the synthesis characteristics of electro-hydraulic servo valve, and the proposed prediction method was a powerful tool to predict synthesis characteristics of the electro-hydraulic servo valve. Moreover, with the use of the advantages of RS and ANFIS, the highly effective forecasting framework in this study can also be applied to other problems involving synthesis characteristics forecasting.

Water-Air Mixing Jet Produced by Electro-hydraulic Impulse Technology Strengthening the Quality of Surface of Metal Materials

Electro-hydraulic impulse water-air mixing jet by which the quality of metal materials can be improved is described in this paper. The experimental results proved that the hardness and the micro-hardness of the surface layer of metal materials can be improved with this method, for example, the microhardness of CrWMn can be increased by 35.62 percent.

Mechanism of electro-hydraulic exciter for new tamping device

A new tamping device which is driven by an electrohydraulic exciter was proposed to overcome the limitations of mechanically driven devices.The double-rod oscillation cylinder drives the tamping arm to realize vibration.A new spin valve was designed in order to fulfill dynamic state requirements of the oscillation cylinder.Parametric analysis was carried out by establishing mathematic model.Then,the relationships among the structure of valve port and the frequency,amplitude,output shock force of the cylinder were researched.An experimental device of the electrohydraulic exciter was established to validate the theoretical results.The signals were acquired by AVANT dynamic signal analyser of vibration.The results show that new tamping device can satisfy all kinds of complex working conditions with the flexible adjustment of frequency and amplitude.

Tri-state Modulation Power Driving of Electro-hydraulic Proportional Amplifier

Switch electro-hydraulic proportional amplifier（PA） widely employs single switch modulation power driving（SSMPD） or reverse discharging power driving（RDPD） at present. SSMPD has slow dynamic response, and can＇t adjust independently the dither signal＇s amplitude and frequency; RDPD accelerates the current decay; consequently, it increases current ripple and power loss. For the purpose of solving the above mentioned problem, the tri-state modulation power driving（TSMPD） scheme was proposed for improving the performance of power driving. Detailedly, the hardware circuit for the tri-state modulation power driving is designed; the tri-state modulation algorithm is realized by digital signal processor（DSP）. The tri-state modulation power driving is investigated by experiments, comparetive experiments among the single switch modulation power driving（SSMPD）, reverse discharging power driving（RDPD）, and the TSMPD are implemented, and the experimental results demonstrate that the linearity error of TSMDP meets the requirement of PA; the current response of TSMSP is the best; the amplitude of ripple current of the TSMPD can be reduced without increasing frequency of PWM, in addition, dither signal amplitude and frequency can be adjusted independently for each other. It is very meaningful to guide the development of high performance proportional amplifier for high frequency response proportional solenoid.

PI-type Iterative Learning Control for Nonlinear Electro-hydraulic Servo Vibrating System

For the electro-hydraulic servo vibrating system（ESVS） with the characteristics of non-linearity and repeating motion, a novel method, PI-type iterative learning control（ILC）, is proposed on the basis of traditional PID control. By using memory ability of computer, the method keeps last time＇s tracking error of the system and then applies the error information to the next time＇s control process. At the same time, a forgetting factor and a D-type learning law of feedforward fuzzy-inferring referenced displacement error under the optimal objective are employed to enhance the systemic robustness and tracking accuracy. The results of simulation and test reveal that the algorithm has a trait of high repeating precision, and could restrain the influence of nonlinear factors like leaking, external disturbance, aerated oil, etc. Compared with traditional PID control, it could better meet the requirement of nonlinear electro -hydraulic servo vibrating system.

Experimental Study about Activated Water Generated by the Electro-hydraulic Impulse Strengthening the Mechanical Performance of Concrete

On the basis of a great number of experiments, it is proved that the strength of concrete is improved greatly when it is mixed with activated water produced by the electro-hydraulic impulse. With the proper parameters, the compression strength of concrete can be increased by 45%. The reason for improvement of concrete strength by using activated water is discussed from the aspect of the structure of molecule.

Barrier Lyapunov functions-based dynamic surface control with tracking error constraints for ammunition manipulator electro-hydraulic system

This paper focuses on the dynamic tracking control of ammunition manipulator system. A standard state space model for the ammunition manipulator electro-hydraulic system(AMEHS) with inherent nonlinearities and uncertainties considered was established. To simultaneously suppress the violation of tracking error constraints and the complexity of differential explosion, a barrier Lyapunov functionsbased dynamic surface control(BLF-DSC) method was proposed for the position tracking control of the ammunition manipulator. Theoretical analysis prove the stability of the closed-loop overall system and the tracking error converges to a prescribed neighborhood asymptotically. The effectiveness and dynamic tracking performance of the proposed control strategy is validated via simulation and experimental results.

Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation

This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.

Analysis of nonlinearities and effects in direct drive electro-hydraulic position servo system

The direct drive electro-hydraulic servo system is a new approach hydraulic system. It is much smaller and easier controlled than traditional systems and is a perfect energy saver. This paper will briefly introduce the popular nonlinearities in the electro-hydraulic system and analyse the effect of nonlinearities in direct drive electro-hydraulic position servo system by means of simulation research. Some valuable conclusions are given.