Position control of Electro hydrostatic actuator (EHA) using a modified back stepping controller
نویسندگان
چکیده
منابع مشابه
Robust position control of electro-hydraulic actuator systems using the adaptive back-stepping control scheme
In general, the position control of electro-hydraulic actuator (EHA) systems is difficult because of system uncertainties such as Coulomb friction, viscous friction, and pump leakage coefficient. Even if the exact values of the friction and pump leakage coefficient may be obtained through experiment, the identification procedure is very complicated and requires much effort. In addition, the ide...
متن کاملA Robust Position Control of Electro-hydrostatic Actuator Systems
In this paper, an adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performan...
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Conventional hydraulic actuator (CHA) systems have been widely used as power units because they can generate very large power compared to their size. In general, a CHA system consists of an electric motor, a pump, a reservoir, various valves, hoses, which are used to transfer the working fluid and an actuator. CHA systems, however, have some problems such as environmental pollution caused by th...
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ABSTRACT: To develop an unmanned automatic excavator system the control performance of hydraulic actuators should be guaranteed. However, hydraulic actuators with single rod cylinder have inherently severe nonlinearities that significantly affect to the command following performance of end-effect. PID control system widely used in industries is not proper to compensate the nonlinearities and it...
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Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this study considered ...
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ژورنال
عنوان ژورنال: Journal of The Korean Society for Fluid Power & Construction Equipments
سال: 2012
ISSN: 2234-8328
DOI: 10.7839/ksfc.2012.9.3.016