NDLI: Fractional order adaptive control for hydraulic differential cylinders

Content Provider	IEEE Xplore Digital Library
Author	Tar, J.K. Bencsik, A.L.
Copyright Year	2005
Description	Author affiliation: Inst. of Intelligent Eng. Syst., Budapest Tech Polytech. Instn., Hungary (Tar, J.K.)
Abstract	Hydraulic servo valve controlled differential cylinders are non-linear, strongly coupled multivariable electromechanical tools applicable for driving e.g. manipulators. Traditional PID control of such equipment have to cope with the problem of instabilities due to the friction forces between the piston and the cylinder, and the uncertainties and variation of its hydrodynamic parameters that in general makes it unrealistic to develop an accurate model for them. Brocker and Lemmen proposed two different control approaches for such systems, based on the disturbance rejection, and on the partial flatness principles, respectively. In each case it is necessary to measure the external disturbance force and its time-derivative as well as to know the exact model of the hydraulic cylinder. Later on Tar et al. proposed an alternative adaptive approach that does not require to measure the disturbance force and to know the exact parameters of the cylinder. This method rejected to use time-derivatives because of the presence of friction, and, as a consequence it resulted in a very hectic transient phase of learning. In this paper an alternative approach is presented that combines this approach with the use of calculated time-derivatives that are "rejected" by adaptively varying the order of the derivations applied. In this way the harsh initial transients can be evaded. The operation of the method is presented by simulations.
Starting Page	225
Ending Page	229
File Size	943287
Page Count	5
File Format	PDF
ISBN	0780391225
DOI	10.1109/ICCCYB.2005.1511577
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-13
Publisher Place	Mauritius
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pistons Force measurement Friction Three-term control Valves Hydrodynamics Control systems Servomechanisms Adaptive control Force control
Content Type	Text
Resource Type	Article

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