The paper reports the development of a hydraulic force control system utilising a generalised predictive control (GPC) technique. Varying dynamics of the moving actuator due to variable payload or environmental stiffness, as well as changes in the characteristics of hydraulic components, make the dynamics of hydraulic servosystems conceptually time varying. This allows the application of adaptive controls as an attractive solution. A suitable model of actuator–environment is established and the recursive U–D factorisation technique is adopted for online estimation of time varying model parameters. Various step and tracking experiments are performed on a laboratory electrohydraulic actuator test stand to demonstrate good performance and the promise of the developed force control system. In spite of poor dynamics and high nonlinearities (control voltage saturation, fluid flow deadband and dry friction in the hydraulic actuator) successful control tests are performed repetitively.
References
-
-
1)
-
Y.N. Chen ,
C.B. Lee ,
C.H. Tseng
.
A variable-structure controller design for an electrohydraulic forcecontrol servo system.
J. Soc. Mech. Eng.
,
6 ,
520 -
526
-
2)
-
C. Ozsoy ,
A. Kural ,
A. Kuzucu
.
Pole-placement position control of a hydraulic robotarm.
J. Syst. Control Eng.
,
149 -
156
-
3)
-
R. Isermann ,
K.H. Lachmann ,
D. Matko
.
(1992)
Adaptive control systems.
-
4)
-
A.J. Koivo
.
(1989)
Fundamentals for control of robotic manipulators.
-
5)
-
J.E. Bobrow ,
K. Lum
.
Adaptive high bandwidth control of a hydraulic actuator.
Trans. ASME J.Dyn. Syst. Meas. Control
,
714 -
720
-
6)
-
Conard, F., Jensen, C.J.D.: `Design of hydraulic force control systems with state estimatefeedback', Proceedings, IFAC 10th Triennial Congress, 1987, Munich, FRG, p. 307–312.
-
7)
-
L. Ljung ,
T. Soderstrom
.
(1983)
Theory and practice of recursive identification.
-
8)
-
A.R. Plummer ,
N.D. Vaughan
.
Robust adaptive control for hydraulic servosystems.
Trans.ASME J. Dyn. Syst. Meas. Control
,
237 -
244
-
9)
-
A. Kotzev ,
D.B. Cherchas ,
P.D. Lawrence
.
Performance of generalized predictivecontrol with on-line model order determination for a hydraulic robotic manipulator.
Robotica
,
55 -
64
-
10)
-
N. Sepehri ,
G.A.M. Dumont ,
P.D. Lawrence ,
F. Sassani
.
Cascade control of hydraulically actuated manipulators.
Robotica
,
207 -
216
-
11)
-
Astrom, K.J.: `Adaptive control – A perspective', IFAC Conference on Adaptive Systems inControl and Signal Processing, 1989, Glasgow, UK, p. 1–6.
-
12)
-
K.S. Narendra ,
A.M. Annaswamy
.
(1989)
Stable adaptive systems.
-
13)
-
A.S. Pannala ,
P. Dransfield ,
M. Palaniswami ,
J.H. Anderson
.
Controllerdesign for a multichannel electrohydraulic system.
Trans. ASME J. Dyn. Syst. Meas.Control
,
299 -
306
-
14)
-
D.W. Clarke ,
C. Mohtadi ,
P.S. Tuffs
.
Generalized predictive control - Part II.Extensions and Interpretations.
Automatica
,
149 -
160
-
15)
-
P. Vaha
.
Application of parameter adaptive approach to servo control of a hydraulicmanipulator.
Acta Polytech. Scand. Math. Comput. Sci. Ser.
,
3 -
86
-
16)
-
R. Volpe ,
P. Khosla
.
Analysis and experimental verification of a fourth order plantmodel for manipulator force control.
IEEE Robot. Autom. Mag.
,
4 -
13
-
17)
-
C. Bohn ,
D.P. Atherton
.
An analysis package comparing PID anti-windup strategies.
IEEE Control Syst. Mag.
,
34 -
40
-
18)
-
D.W. Clarke ,
C. Mohtadi ,
P.S. Tuffs
.
Generalized predictive control - Part I. TheBasic Algorithm.
Automatica
,
137 -
148
-
19)
-
S. Ananthakrishnan ,
R.M. Fullmer
.
Experimental adaptive control of a four-axishydraulically-actuated robot.
Int. J. Robot. Auto.
,
210 -
219
-
20)
-
S.R. Lee ,
K. Srinivasan
.
Self-tuning control application to closed-loop servohydraulicmaterial testing.
Trans. ASME J. Dyn. Syst. Meas. Control
,
680 -
689
-
21)
-
H.E. Merritt
.
(1967)
Hydraulic control systems.
-
22)
-
Whitney, D.E.: `Historical perspective and state of the art in robot force control', IEEEInternational Conference on Robotics and Automation, 1985, St. Louis, Missouri, p. 262–268.
-
23)
-
A. Kotzev ,
D.B. Cherchas ,
P.D. Lawrence ,
N. Sepehri
.
Generalized predictivecontrol of a robotic manipulator with hydraulic actuators.
Robotica
,
447 -
459
-
24)
-
G.J. Bierman
.
(1977)
Factorization methods for discrete sequential estimation.
-
25)
-
J. Craig
.
(1988)
Adaptive control of robotic manipulators.
-
26)
-
I.D. Landau
.
Evolution of adaptive control.
Trans. ASME J. Dyn. Syst. Meas.Control
,
381 -
391
-
27)
-
Chow, C.M., Kuznetsov, A., Clarke, D.: `Application of multivariable generalizedpredictive control to the simulink model of a paper machine', IEEE Conference on ControlApplications, 1994, Glasgow, UK, p. 1675–1681.
-
28)
-
P. Ioannou ,
J. Sun
.
(1996)
Robust adaptive control.
http://iet.metastore.ingenta.com/content/journals/10.1049/ip-cta_19982228
Related content
content/journals/10.1049/ip-cta_19982228
pub_keyword,iet_inspecKeyword,pub_concept
6
6