Impulse identification and discrete P/PD control of electro-hydraulic servodrive

• Autorzy: Możaryn Jakub , Winnicki Arkadiusz , Suski Damian

Identyfikatory

DOI

10.14313/JAMRIS_4-2018/25

• Języki publikacji: EN

Abstrakty

EN

This article presents the systematic design methodology of a discrete Proportional and Proportional-Derivative (PD) controller for the electro-hydraulic servodrive position control. The controller is based on the identified linear model of the system, with P/PD parameters adjusted with the help of different methods given in the literature. There are compared experimental results of the proposed control system with different controller parameters.

Słowa kluczowe

EN

PD controller; identification for control; analytic design; identification; control methods

PL

kontroler PD; identyfikacja; metody kontroli

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2018
• Tom: Vol. 12, No. 4
• Strony: 51--57
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Możaryn Jakub

• Institute of Automatic Control and Robotics, Warsaw University of Technology, ul. Sw. A. Boboli 8, 02-525, Warsaw, Poland

autor

Winnicki Arkadiusz

• Institute of Automatic Control and Robotics, Warsaw University of Technology, ul. Sw. A. Boboli 8, 02-525, Warsaw, Poland

autor

Suski Damian

• Institute of Automatic Control and Robotics, Warsaw University of Technology, ul. Sw. A. Boboli 8, 02-525, Warsaw, Poland

Bibliografia

• [1] I. Hunter, J. Hollerbach, J. Ballantyne, “A Comparative Analysis Of Actuator Technologies For obotics,” The Robotics Review, vol. 2, 1991, 299–342.
• [2] H. Mianehrow, A. Abbasian, “Energy Monitoring Of Plastic Injection Molding Process Running ith Hydraulic Injection Molding Machines,”, Journal of Cleaner Production, vol. 148, 2017, 804–810, DOI: 10.1016/j.jclepro.2017.02.053.
• [3] B. Siciliano, O. Khatib (eds.), Springer Handbook of Robotics, Springer, Berlin, Heidelberg, 2008, DOI: 10.1007/978-3-540-30301-5.
• [5] FAA-H-083-31, Aviation Maintenance Technician Handbook-Airframe Volume 2, Federal Aviation Administration, USA, 2012.
• [6] H. Liu, H. Gao, P. Li, Handbook of Vehicle Suspension Control Systems, Institution of Engineering and Technology, 2013, DOI: 10.1049/PBCE092E.
• [7] J. Mattila, J. Koivumäki, D.G. Caldwell, C. Semini, “A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, 2017, 669-680, DOI: 10.1109/TMECH.2017.2668604.
• [8] G. Vossoughi, M. Donath, “Dynamic Feedback Linearization for Electrohydraulically Actuated Control Systems,” J. Dyn. Sys., Meas., Control., vol. 117, no. 4, 1995, 468-477, DOI: 10.1115/1.2801102.
• [9] C. Guan, S. Pan, “Nonlinear Adaptive Robust Control of Single-Rod Electro-Hydraulic Actuator With Unknown Nonlinear Parameters,” IEEE Transactions on Control Systems Technology, vol. 16, no. 3, 2008, 434–445, DOI: 10.1109/TCST.2007.908195.
• [10] A. Winnicki, M. Olszewski, “Sliding Mode Control of Electrohydraulic Servo System,” Pomiary Automatyka Kontrola, vol. 55, no. 3, 2009, 174–177.
• [11] J.G. Ziegler, N.B. Nichols, “Optimum Settings for Automatic Controllers,” Transactions of the ASME, vol. 64, 1942, 759–768.
• [12] G.H. Cohen, G.A. Coon, “Theoretical Consideration of Retarded Control,” Transactions of the ASME, vol. 75, 1953, 827–834.
• [13] A. O’Dwyer, “PI and PID Controller Tuning Rules: an Overview and Personal Perspective,” 2006 IET Irish Signals and Systems Conference, Dublin, 161–166.
• [14] J. Mozaryn, K. Malinowski, “Tuning Rules Selection and Iterative Modification of PID Control System Parameters.” In: T. Brezina, R. Jablonski (eds.), Mechatronics 2013, Springer, Cham, 2014, 677–684, DOI: 10.1007/978-3-319-02294-9_85.
• [15] W. Kolaj, J. Mozaryn, M. Syfert, “PLC-PIDTuner: Application for PID tuning with SIMATIC S7 PLC controllers,” 21st International Conference on Methods and Models in Automation and Robotics (MMAR), 2016, 306–311, DOI: 10.1109/MMAR.2016.7575152.
• [16] R.B. Walters, Hydraulic and Electro-hydaulic Control Systems, Springer, Dordrecht, 1991, DOI: 10.1007/978-94-011-3840-6.
• [17] M. Jelali, A. Kroll, Hydraulic Servo-systems: Modelling, Identification and Control, Springer London, 2003, DOI: 10.1007/978-1-4471-0099-7.
• [18] J.E. Kurek, “Pulse Response Identification of Inertial Model for Astatic System.” In: T. Brezina, R. Jablonski (eds.), Mechatronics 2013, Springer, Cham, 2014, 663–668, DOI: 10.1007/978-3-319-02294-9_83.
• [19] K.J. Astrom, T. Hagglund, PID Controllers: Theory, Design And Tuning, 2nd ed., International Society of Automation, USA, 1995.
• [20] G.A. Coon, “How to Find Controller Settings from Process Characteristics,” Control Engineering, vol. 3, 1956, 66–76.
• [21] G.A. Coon, “Control Charts for Proportional Action,” ISA Journal, vol. 11, 1964, 81–82.
• [22] A. Haalman, “Adjusting Controllers for a Deadtime Process,” Control Engineering, vol. 65, 1965, 71–73.
• [23] M. Viteckova, “Digital and Analog Controller Tuning for Processes with Time Delay,” Automatizace, vol. 42, no. 2, 1999, 106–111 (in Czech).
• [24] M. Viteckova, A. Vitecek, L. Smutny, “Controller Tuning for Controlled Plants with Time Delay,” IFAC Proceedings Volumes, vol. 33, no. 4, 2000, 253–258, DOI: 10.1016/S1474-6670(17)38253-8.
• [25] P.M.E.M. van der Grinten, “Finding optimum controller settings,” Control Engineering, 1963, 51–56.

Uwagi

EN

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).