H control of robot arm with hydraulic drive

• Autorzy: Gosiewski Z. , Michałowski G.
• Języki publikacji: EN

Abstrakty

EN

In the paper an H�‡ velocity control of the robot arm in combination with the hydraulic drive is presented. The open-loop system consists of a manipulator with one rotary degree of freedom, a hydraulic servomotor, and an electrohydraulic amplifier. The mathematical model of the system is derived. Due to the nonlinearity in the model, which is caused by varying operating point parameters and the direction of the servomotor motion, the model of multiplicative uncertainty was defined. The plant model transfer function parameters were assumed to be variable. To limit error signal, control signal, and output signal three weighting functions were designed. The simulation results of the designed H�‡ optimal closed-loop system were compared to the standard PID closed-loop system. The solution ensuring robust performance was achieved and proved.

Słowa kluczowe

EN

hydraulic drive; robust control

PL

napęd hydrauliczny; sterowanie odporne

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2008
• Tom: Vol. 2, no. 2
• Strony: 39--44
• Opis fizyczny: Bibliogr. 7 poz., rys., wykr.

Twórcy

autor

Gosiewski Z.

autor

Michałowski G.

• Białystok Technical University, Faculty of Mechanical Engineering, ul. Wiejska 45 C, 15-351 Białystok,

Bibliografia

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• 2. Cedro L. (2007), Identification of the systems with hydraulic drives by using of differential filters (in Polish), Ph.D. Thesis, Kielce University of Technology.
• 3. Dorf R.C., Bishop R.H. (2005), Modern Control Systems,10th Edition, Prentice Hall.
• 4. Franklin G.F., Powell J.D., Emami-Naeini A. (2002), Feedback Control of Dynamic Systems, 4th Edition, Prentice Hall.
• 5. Gosiewski Z., Mystkowski A. (2006), One-DoF robust control of shaft supported magnetically, Archives of Control Sciences, Vol. 16, No. 3, 327–339.
• 6. Henzel M. (2004), New control methods of aircraft’s electrohydraulic servodrive (in Polish), Ph.D. Thesis,nMilitary University of Technology, Warsaw.
• 7. Zhou K., Doyle J.C. (1998), Essentials of Robust Control, Prentice Hall.