NDLI: Dynamic Model and Control Design for a Nonlinear Hydraulic Actuator

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Dynamic Model and Control Design for a Nonlinear Hydraulic Actuator

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Pinilla, Carlos Borrás Sarmiento, José Luis Ortiz, Juan Felipe
Copyright Year	2018
Abstract	Industrial hydraulic systems are complex, and show nonlinear dynamic behavior because of their nature. When it is not easy to deal with the nonlinear models, hydraulic systems are usually described by linear or linearized models around operating points. In this work a nonlinear dynamic and mathematic model for the position control of a double rod hydraulic actuator was developed. Three control strategies were implemented: PID control, optimal control (LQR) and control by Feedback Linearization. For the PID control and optimal control (LQR) strategies a linearized model of the hydraulic actuator was developed around a specific operating point, contrary to the Feedback Linearization control that have a wide operation range and the nonlinear model was used. These mathematical models were represented on Simulink environment, in order to compare and analyze the response and dynamic behavior. The optimal control (LQR) shows better settling time than the PID control, both without overshoot; and the Feedback Linearization show the best dynamic performance in terms of settling time with a little overshoot and disturbance tolerance.
File Format	PDF
ISBN	9780791852040
DOI	10.1115/IMECE2018-88320
Volume Number	Volume 4B: Dynamics, Vibration, and Control
Conference Proceedings	ASME 2018 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2018-11-09
Publisher Place	Pittsburgh, Pennsylvania, USA
Access Restriction	Subscribed
Subject Keyword	Design Actuators Feedback Optimal control Position control Dynamic models Hydraulic drive systems
Content Type	Text
Resource Type	Article

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