The Separate Meter in Separate Meter Out Control System Using Dual Servo Valves Based on Indirect Adaptive Robust Dynamic Surface Control
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摘要
Due to the demand for energy efficiency in electro-hydraulic systems, the separate meter in and separate meter out(SMISMO) control system attracts vast attention. In this paper, the SMISMO control system was configured with two servo valves to control the meter in and meter out separately.By designing two of the proposed indirect adaptive robust dynamic surface controllers(IARDSC)for the working-side and off-side system and setting the coupled items as estimated parameters, the SMISMO control system was decoupled into two subsystems completely. Here, indirect adaptive robust control(IARC) was employed to address the internal parameter uncertainties and external disturbances.Dynamic surface control(DSC) was utilized in the backstepping design procedure of IARC to deal with the inherent ‘explosion of terms' problem. As thus, the proposed IARDSC could simplify the design procedure, decrease the computational cost, and achieve an improved control performance in practical use. Finally, experimental results validated the effectiveness of proposed IARDSC and showed that the proposed SMISMO control system could provide a possibility to save more energy.
Due to the demand for energy efficiency in electro-hydraulic systems, the separate meter in and separate meter out(SMISMO) control system attracts vast attention. In this paper, the SMISMO control system was configured with two servo valves to control the meter in and meter out separately.By designing two of the proposed indirect adaptive robust dynamic surface controllers(IARDSC)for the working-side and off-side system and setting the coupled items as estimated parameters, the SMISMO control system was decoupled into two subsystems completely. Here, indirect adaptive robust control(IARC) was employed to address the internal parameter uncertainties and external disturbances.Dynamic surface control(DSC) was utilized in the backstepping design procedure of IARC to deal with the inherent ‘explosion of terms' problem. As thus, the proposed IARDSC could simplify the design procedure, decrease the computational cost, and achieve an improved control performance in practical use. Finally, experimental results validated the effectiveness of proposed IARDSC and showed that the proposed SMISMO control system could provide a possibility to save more energy.
Due to the demand for energy efficiency in electro-hydraulic systems, the separate meter in and separate meter out(SMISMO) control system attracts vast attention. In this paper, the SMISMO control system was configured with two servo valves to control the meter in and meter out separately.By designing two of the proposed indirect adaptive robust dynamic surface controllers(IARDSC)for the working-side and off-side system and setting the coupled items as estimated parameters, the SMISMO control system was decoupled into two subsystems completely. Here, indirect adaptive robust control(IARC) was employed to address the internal parameter uncertainties and external disturbances.Dynamic surface control(DSC) was utilized in the backstepping design procedure of IARC to deal with the inherent ‘explosion of terms' problem. As thus, the proposed IARDSC could simplify the design procedure, decrease the computational cost, and achieve an improved control performance in practical use. Finally, experimental results validated the effectiveness of proposed IARDSC and showed that the proposed SMISMO control system could provide a possibility to save more energy.
引文
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[2]Koivumaki J and Mattila J,An energy-efficient high performance motion control of a hydraulic crane applying virtual decomposition control,IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2013,4426-4433.
[3]Wang S K,Wang J Z,and Zhao J B,A high performance energy saving electro-hydraulic servo control circuit,CN102588358B,2015.
[4]Mattila J,Koivumaki J,Caldwell D G,et al.,A survey on control of hydraulic robotic manipulators with projection to future trends,IEEE/ASME Transactions on Mechatronics,2017,22(2):669-680.
[5]Chen G,Wang J,Ma L,et al.,Observer-based and energy saving control of single-rod electrohydraulic servo system diven by servo motor,2015 American Control Conference,2015,2224-2229.
[6]Lu L and Yao B,Energy-saving adaptive robust control of a hydraulic manipulator using five cartridge valves with an accumulator,IEEE Transactions on Industrial Electronics,2014,61(12):7046-7054.
[7]Du C,Plummer A R,and Johnston D N,Performance analysis of an energy-efficient variable supply pressure electro-hydraulic motion control system,Control Engineering Practice,2016,48:10-21.
[8]Ge L,Dong Z,Huang W,et al.,Research on the performance of hydraulic excavator with pump and valve combined separate meter in and meter out circuits,International Conference on Fluid Power and Mechatronics(FPM),2015,37-41.
[9]Lu L,Yao B,and Liu Z,Energy saving control of a hydraulic manipulator using five cartridge valves and one accumulator,IFAC Proceedings Volumes,2013,46(5):84-90.
[10]Liu S and Yao B,Coordinate control of energy saving programmable valves,IEEE Transactions on Control Systems Technology,2008,16(1):34-45.
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[12]Liu Y,Xu B,Yang H,et al.,Simulation of separate meter in and separate meter out valve arrangement used for synchronized control of two cylinders,IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM),2009,1665-1670.
[13]Chen G R,Wang J Z,Wang S K,et al.,Separate meter in and separate meter out energy saving control system using dual servo valves under complex load conditions,Transactions of Beijing Institute of Technology,2016,36(10):1053-1058.
[14]Wang J Z,Zhao J B,Wang S K,et al.,The separate meter in and separate meter out energy saving control system using dual servo valves and its control method,CN103148041A,2013.
[15]Chen G,Wang J,Wang S,et al.,Indirect adaptive robust dynamic surface control in separate meter-in and separate meter-out control system,Nonlinear Dynamics,2017,90(2):951-970.
[16]He Y,Wang J,and Hao R,Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection,Journal of Systems Science and Complexity,2015,28(2):341-359.
[17]Chen G,Wang J,Wang S,et al.,Application of a new adaptive robust controller design method to electro-hydraulic servo system,Acta Automatica Sinica,2016,42(3):375-384.
[18]Jiang Y and Jiang Z P,A robust adaptive dynamic programming principle for sensorimotor control with signal-dependent noise,Journal of Systems Science and Complexity,2015,28(2):261-288.
[19]Krstic M,Kanellakopoulos I,and Kokotovic P V,Nonlinear and Adaptive Control Design,Wiley,New Jersey,1995.
[20]Yao B and Tomizuka M,Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form,Automatica,1997,33(5):893-900.
[21]Yao B and Palmer A,Indirect adaptive robust control of SISO nonlinear systems in semi-strict feedback forms,IFAC Proceedings Volumes,2002,35(1):397-402.
[22]Swaroop D,Hedrick J K,Yip P P,et al.,Dynamic surface control for a class of nonlinear systems,IEEE Transactions on Automatic Control,2000,45(10):1893-1899.
[23]Li Z,Chen J,Gan M,et al.,Adaptive robust dynamic surface control of DC torque motors with true parameter estimates,American Control Conference(ACC),2010,3524-3529.
[24]Wang F,Liu Z,Zhang Y,et al.,Adaptive fuzzy dynamic surface control for a class of nonlinear systems with fuzzy dead zone and dynamic uncertainties,Nonlinear Dynamics,2015,79(3):1693-1709.
[25]Wang H,Wang D,and Peng Z,Adaptive dynamic surface control for cooperative path following of marine surface vehicles with input saturation,Nonlinear Dynamics,2014,77(1-2):107-117.
[26]Song H,Zhang T,Zhang G,et al.,Robust dynamic surface control of nonlinear systems with prescribed performance,Nonlinear Dynamics,2014,76(1):599-608.
[27]He Y,Wang J,Shen W,et al.,Indirect adaptive robust dynamic surface control of electro-hydraulic fatigue testing system with huge elastic load,Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2016,230(2):115-129.
[28]Yao B,Bu F,Reedy J,et al.,Adaptive robust motion control of single-rod hydraulic actuators:Theory and experiments,IEEE/ASME Transactions on Mechatronics,2000,5(1):79-91.
[29]Chen G,Wang J,Wang S,et al.,Energy saving control in separate meter in and separate meter out control system,Control Engineering Practice,2018,72:138-150.
[30]Totten G E,Handbook of Hydraulic Fluid Technology,CRC Press,Boca Raton,2011.
[2]Koivumaki J and Mattila J,An energy-efficient high performance motion control of a hydraulic crane applying virtual decomposition control,IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS),2013,4426-4433.
[3]Wang S K,Wang J Z,and Zhao J B,A high performance energy saving electro-hydraulic servo control circuit,CN102588358B,2015.
[4]Mattila J,Koivumaki J,Caldwell D G,et al.,A survey on control of hydraulic robotic manipulators with projection to future trends,IEEE/ASME Transactions on Mechatronics,2017,22(2):669-680.
[5]Chen G,Wang J,Ma L,et al.,Observer-based and energy saving control of single-rod electrohydraulic servo system diven by servo motor,2015 American Control Conference,2015,2224-2229.
[6]Lu L and Yao B,Energy-saving adaptive robust control of a hydraulic manipulator using five cartridge valves with an accumulator,IEEE Transactions on Industrial Electronics,2014,61(12):7046-7054.
[7]Du C,Plummer A R,and Johnston D N,Performance analysis of an energy-efficient variable supply pressure electro-hydraulic motion control system,Control Engineering Practice,2016,48:10-21.
[8]Ge L,Dong Z,Huang W,et al.,Research on the performance of hydraulic excavator with pump and valve combined separate meter in and meter out circuits,International Conference on Fluid Power and Mechatronics(FPM),2015,37-41.
[9]Lu L,Yao B,and Liu Z,Energy saving control of a hydraulic manipulator using five cartridge valves and one accumulator,IFAC Proceedings Volumes,2013,46(5):84-90.
[10]Liu S and Yao B,Coordinate control of energy saving programmable valves,IEEE Transactions on Control Systems Technology,2008,16(1):34-45.
[11]Liu Y,Xu B,Yang H,et al.,Modeling of separate meter in and separate meter out control system,IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM),2009,227-232.
[12]Liu Y,Xu B,Yang H,et al.,Simulation of separate meter in and separate meter out valve arrangement used for synchronized control of two cylinders,IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM),2009,1665-1670.
[13]Chen G R,Wang J Z,Wang S K,et al.,Separate meter in and separate meter out energy saving control system using dual servo valves under complex load conditions,Transactions of Beijing Institute of Technology,2016,36(10):1053-1058.
[14]Wang J Z,Zhao J B,Wang S K,et al.,The separate meter in and separate meter out energy saving control system using dual servo valves and its control method,CN103148041A,2013.
[15]Chen G,Wang J,Wang S,et al.,Indirect adaptive robust dynamic surface control in separate meter-in and separate meter-out control system,Nonlinear Dynamics,2017,90(2):951-970.
[16]He Y,Wang J,and Hao R,Adaptive robust dead-zone compensation control of electro-hydraulic servo systems with load disturbance rejection,Journal of Systems Science and Complexity,2015,28(2):341-359.
[17]Chen G,Wang J,Wang S,et al.,Application of a new adaptive robust controller design method to electro-hydraulic servo system,Acta Automatica Sinica,2016,42(3):375-384.
[18]Jiang Y and Jiang Z P,A robust adaptive dynamic programming principle for sensorimotor control with signal-dependent noise,Journal of Systems Science and Complexity,2015,28(2):261-288.
[19]Krstic M,Kanellakopoulos I,and Kokotovic P V,Nonlinear and Adaptive Control Design,Wiley,New Jersey,1995.
[20]Yao B and Tomizuka M,Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form,Automatica,1997,33(5):893-900.
[21]Yao B and Palmer A,Indirect adaptive robust control of SISO nonlinear systems in semi-strict feedback forms,IFAC Proceedings Volumes,2002,35(1):397-402.
[22]Swaroop D,Hedrick J K,Yip P P,et al.,Dynamic surface control for a class of nonlinear systems,IEEE Transactions on Automatic Control,2000,45(10):1893-1899.
[23]Li Z,Chen J,Gan M,et al.,Adaptive robust dynamic surface control of DC torque motors with true parameter estimates,American Control Conference(ACC),2010,3524-3529.
[24]Wang F,Liu Z,Zhang Y,et al.,Adaptive fuzzy dynamic surface control for a class of nonlinear systems with fuzzy dead zone and dynamic uncertainties,Nonlinear Dynamics,2015,79(3):1693-1709.
[25]Wang H,Wang D,and Peng Z,Adaptive dynamic surface control for cooperative path following of marine surface vehicles with input saturation,Nonlinear Dynamics,2014,77(1-2):107-117.
[26]Song H,Zhang T,Zhang G,et al.,Robust dynamic surface control of nonlinear systems with prescribed performance,Nonlinear Dynamics,2014,76(1):599-608.
[27]He Y,Wang J,Shen W,et al.,Indirect adaptive robust dynamic surface control of electro-hydraulic fatigue testing system with huge elastic load,Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2016,230(2):115-129.
[28]Yao B,Bu F,Reedy J,et al.,Adaptive robust motion control of single-rod hydraulic actuators:Theory and experiments,IEEE/ASME Transactions on Mechatronics,2000,5(1):79-91.
[29]Chen G,Wang J,Wang S,et al.,Energy saving control in separate meter in and separate meter out control system,Control Engineering Practice,2018,72:138-150.
[30]Totten G E,Handbook of Hydraulic Fluid Technology,CRC Press,Boca Raton,2011.