An energy-saving nonlinear position control strategy for electro-hydraulic servo systems |
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| Affiliation: | 1. Mechanical Engineering Department, Amirkabir University of Technology, Tehran, Iran;2. Electrical Engineering Department, Amirkabir University of Technology, Tehran, Iran;3. New Technologies Research Centre, Amirkabir University of Technology, Tehran, Iran;1. Mechanical Engineering Department, Amirkabir University of Technology, Tehran, Iran;2. New Technologies Research Center, Amirkabir University of Technology, Tehran, Iran;1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China;2. Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, BA2 7AY, Bath, UK;3. School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;1. Mechanical Engineering Department, Amirkabir University of Technology, Tehran, Iran;2. Electrical Engineering Department, Amirkabir University of Technology, Tehran, Iran;3. New Technologies Research Center (NTRC), Amirkabir University of Technology, Tehran, Iran;1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China;2. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology, Xuzhou 221116, China;3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China;4. Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD 21250, USA |
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| Abstract: | The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. |
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| Keywords: | Electro-hydraulic systems Energy saving Position control |
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