Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering PDF
Preview Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering
Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering Editedby Qing Guo and Dan Jiang MATLAB(cid:2) isatrademarkofTheMathWorks,Inc.andisusedwithpermission.TheMathWorks doesnotwarranttheaccuracyofthetextorexercisesinthisbook.Thisbook’suseordiscussion ofMATLAB(cid:2)softwareorrelatedproductsdoesnotconstituteendorsementorsponsorshipbyThe MathWorksofaparticularpedagogicalapproachorparticularuseoftheMATLAB(cid:2)software. 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VisittheTaylor&FrancisWebsiteat http://www.taylorandfrancis.com andtheCRCPressWebsiteat http://www.crcpress.com Tomyparents andmydaughter. QingGuo Contents Foreword...............................................................................ix Preface..................................................................................xi ListofFigures.......................................................................xiii ListofTables ........................................................................xvii Acknowledgement..................................................................xix Editors.................................................................................xxi Contributors........................................................................xxiii Symbols............................................................................xxvii 1. Introduction.......................................................................1 KyoungKwanAhn,AndrewAlleyne,JamesE.Bobrow,I.Boiko,Fanping Bu,WenhuaChen,RogerFales,ChengGuan,WeiHe,ZongxiaJiao, ClaudeKaddissi,AtulKelkar,HassanK.Khalil,WonheeKim,Miroslav ´ Krstic,SongjingLi,GuopingLiu,NoahD.Manring,VladimirMilic, MortezaMoradi,PrutNakkarat,N.Niksefat,HuihuiPan,YangjunPi, GangShen,YanShi,XingyongSong,HongSun,WeichaoSun,Ioan Ursu,JunzhengWang,QingfengWang,ShaopingWang,JianhuaWei, DaeheeWon,ChifuYang,BinYao,JianyongYao,HongYu,Shuang Zhang,andZongyuZuo 2. ModelConstructionofElectro-HydraulicControlSystem ..............7 ChungChooChung,CanDu,RogerFales,WonheeKim,NoahD. Manring,AndrewPlummer,ClaudioSemini,andTianYu 3. LinearPIDControlDesign...................................................17 CanDu,NigelJohnston,NoahD.Manring,AndrewPlummer,Claudio Semini,MingYang,andTianYu 4. RobustControlMethod ......................................................45 JohnC.Doyle,ChengGuan,VladimirMilic´,andKeminZhou 5. OutputFeedbackControlMethod..........................................69 ChengGuan,WonheeKim,andDaeheeWon vii viii Contents 6. ParametricAdaptiveControlMethod......................................97 BrankoG.Celler,WenhuaChen,HuijunGao,WonheeKim,Miroslav Krstic,KouheiOhnishi,YananQiu,StevenW.Su,ChengwenWang, DaeheeWon,andPaulZarchan References...........................................................................121 Index .................................................................................125 Foreword Iam delighted tointroduce thefirstbook on electro-hydraulic system field. WhenIundertookaprojectontheLowerLimbExoskeletonintheyear2010, I was very interested in the electro-hydraulic control system to drive this complicatedmechatronicsplant.HenceIhavetriedtoinvestigatemanyref- erencesabouttheadvancedcontroltechniquesusedintheelectro-hydraulic system by many researchers. In these references, especially with the lack of high-citedliterature,itindicatedthatmoreandmoreengineersarerequired to introduce new control ideas into mechanical control plants, not limited to the traditional PI control method. Especially in certain terrible working conditions, perhaps PI control has no favorable dynamic performance or accuracysinceitseffectivemodelisonlytwoorders.Ifthecontrolalgorithm isnotchanged,wemustselectabettersensororactuator,andotherelements toreplacethecurrenthardware.Thiswillleadtomorecostandconsumption ofmorematerial.Thus,weneedtoupdatethecontrolalgorithmandlookfor bettercontroltechniquestoimprovetheperformanceoftheelectro-hydraulic system.Basedonthisconcept,nowthatIhavemyattentiononit,itappears tobeabetterideatospreadsomeadvancedcontroltechniquesappliedinthe electro-hydrauliccontrolsystem,especiallyintypicalfieldssuchasrobotics engineeringandfluidtransmissionengineering. Electro-hydraulic servo actuator started gaining recognition in the 1960s as a field. This actuator has many obvious advantages than the general servo motor actuator, such as higher load-bearing and small size-to-power ratio.Manymechatronicsplantsaboutmulti-DOFmanipulator,crane,space manipulator, and lower limb of BigDog favor this actuator due to the exis- tence of large dynamic external load beyond the capability of the servo motor actuator. Furthermore, the electro-hydraulic servo actuator has high control accuracy and fast response performance since the supply pressure can be easily increased. The operation and reliability are also beneficial to theautomationcontrolsystem.Inaddition,theenergysavingoftheelectro- hydraulicsystemcanalsoberealizedbysomepumpvalvecombinedcontrol method. Fortheresearchersofautomaticcontrolfield,theimportantpurposeisto apply several control methods into practice. However, different actual con- trolplantshavedifferentcharacteristics.Thereisnogenericcontrolmethod superiorlyusedinanyplant.Toaddressdifferentcontrolproblems,thecorre- spondingcontrolschemeshouldbedesignedandoptimized.Althoughsome ix
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