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Adaptive control of a parallel manipulator driven by electro-hydraulic cylinders

Woś P., Dindorf R.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 3

1061-1071

The paper presents a three-axis manipulator with an electro-hydraulic servo system and a mathematical model describing the kinematics of the solid model and the manipulator. The manipulator control system is also discussed. An adaptive control algorithm was developed for the electro-hydraulic servo system using a parametric model. The identified model was applied to conduct an on-line synthesis of the controller. An increase in the performance of the adaptive control system was achieved by introducing a variable forgetting factor. The aim of the research was to examine the effectiveness of the adaptive control method for the electro-hydraulic manipulator both theoretically and experimentally.

Adaptive control of an electro-hydraulic servo-system

Dindorf R., Woś P.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

657-666

The paper deals with the structure and drive of the adaptive electro-hydraulic control system and practical verification of the identification and control algorithms. The electro-hydraulic servo system composed of hydraulic cylinder controlled by proportional valves is discussed. The parameters of the adaptive adjuster were determined by means of the results of the current identification of the parametric model. The identification was conducted on the basis of the measurement of the object's controlling size and the regulated size of the object. The identified model of the object was applied to carry out on-line synthesis of the PID adjuster. The selected problems connected with obtaining the algorithm of adaptive control are presented. A computer program implementing the algorithm with the numerical simulation and the identification of the physical model of the control object is worked out. The aim of the research is to examine the effectiveness of adaptive control method in electro-hydraulic servo systems both theoretically and experimentally.