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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Nonlinear robust dual-loop control for electro-hydraulic load simulator.

Chengwen Wang1, Zongxia Jiao2, Long Quan1

  • 1Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China.

ISA Transactions
|November 1, 2015
PubMed
Summary
This summary is machine-generated.

This study presents a robust dual-loop control for electro-hydraulic load simulators (EHLS) to minimize motion disturbances. The advanced control scheme ensures high-performance torque tracking, even with system nonlinearities and friction.

Keywords:
Deterministic robust controlDual-loop controlElectro-hydraulic load simulatorFriction identificationNonlinear feed-forward compensator

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Hydraulic Systems

Background:

  • Electro-hydraulic load simulators (EHLS) are crucial for testing actuators.
  • Actuator motion disturbance, nonlinearities, and friction challenge precise torque control in EHLS.

Purpose of the Study:

  • To develop a high-performance torque control scheme for EHLS.
  • To suppress actuator motion disturbance and address system nonlinearities and friction.

Main Methods:

  • A nonlinear robust dual-loop control scheme was designed.
  • This includes an open-loop nonlinear velocity feed-forward compensator.
  • A closed-loop nonlinear deterministic robust torque controller was implemented.

Main Results:

  • The open-loop compensator effectively decoupled actuator's active motion disturbance.
  • The closed-loop controller ensured excellent dynamic performance in tracking torque references.
  • The control scheme demonstrated effectiveness in handling nonlinearities and friction.

Conclusions:

  • The proposed dual-loop control scheme significantly enhances torque control performance in EHLS.
  • The method is effective in mitigating actuator motion disturbance, nonlinearities, and friction.
  • Validated through co-simulations and experiments, the approach offers a robust solution for EHLS applications.