Optimal cascade hydraulic control for a parallel robot platform by PSO

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• 作者：Novak Nedic (1)
  Dragan Prsic (1)
  Ljubisa Dubonjic (1)
  Vladimir Stojanovic (1)
  Vladimir Djordjevic (1)
  
• 关键词：Optimal control ; Cascade control ; Hydraulically control systems ; Parallel robot platform ; Particle swarm optimization ; Tracking problem
• 刊名：The International Journal of Advanced Manufacturing Technology
• 出版年：2014
• 出版时间：May 2014
• 年：2014
• 卷：72
• 期：5-8
• 页码：1085-1098
• 全文大小：
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• 作者单位：Novak Nedic (1)
  Dragan Prsic (1)
  Ljubisa Dubonjic (1)
  Vladimir Stojanovic (1)
  Vladimir Djordjevic (1)
  
  1. Department of Energetics and Automatic Control, Faculty of Mechanical and Civil Engineering in Kraljevo, University of Kragujevac, Dositejeva 19, 36000, Kraljevo, Serbia
  
• ISSN：1433-3015

文摘

A new cascade load force control design for a parallel robot platform is proposed. A parameter search for a proposed cascade controller is difficult because there is no methodology to set the parameters and the search space is broad. A parameter search based on particle swarm optimization (PSO) is suggested to effectively search the parameters of the cascade controller. We used a unified mathematical model of a hydraulic actuator of parallel robot platform. These equations are readily applicable to various types of proportional valves, and they unify the cases of critical center, overlapped, and underlapped valves. These unified model equations are useful for nonlinear controller design. Simulation results show the advantages of the proposed optimal tuned cascade controller to solve the formulated tracking problem in relation to the classical proportional–integral (PI) controller.