PID Studies on Position Tracking Control of an Electro-Hydraulic Actuator (original) (raw)
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Journal of Communications Technology, Electronics and Computer Science, 2019
In this paper, Self Tuning Fuzzy PID controller is developed to improve theperformance of the electro-hydraulic actuator. The controller is designed based on the mathematical model of the system which is estimated by using System Identification technique.The model is performed in linear discrete model to obtain a discrete transfer function for the system. Model estimation procedures are done by using System Identification Toolbox in Matlab. Data for model estimation is taken from an experimental works. Fuzzy logic is used to tune each parameter of PID controller. Through simulation in Matlab by selecting appropriate fuzzy rules are designed to tune the parameters Kp, Ki and Kd of the PID controller, the performance of the hydraulic system has improved significantly compare to conventional PID controller.
PID controller design for an industrial hydraulic actuator with servo system
… SCOReD), 2010 IEEE …, 2010
Electro-hydraulic system (EHS) consists of several dynamic parts which are widely used in motion control application. These dynamic parts need to be controlled to determine direction of the motion. Mathematical model of EHS is required in order to design a controller for the system. In this paper, system identification technique is used for system modeling. Model of the system is estimated by using System Identification Toolbox in Matlab. This process began with collection of input and output data from experimental works. The data collected is used for model estimation. Auto Regressive with eXogeneous input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system, best fit criterion and correlation analysis of the residual is analyze to determine the adequate model for representing the EHS system. By using Ziegler-Nichols tuning method, PID controller is designed for the model chosen through simulation in Simulink. In order to verify this controller, it is applied to the real time system and the performance of the system is monitored. The result obtained shows that the output of the system with controller in simulation mode and experimental works is almost similar. The output of the system also tracked the input given successfully.
International Journal of Mechanical Engineering and Robotics Research
An Electro-Hydraulic Actuator (EHA) system is usually utilized in production industry such as automotive industry which requires precision, high force and long operating hours. When dealing with the production of engineering parts that require precision, high force and long operating hours, a controller is usually required. It is observed from the literature, an appropriate tuning technique is essential in order to obtain optimal controller's performance. Therefore, a computational tuning technique, namely Priority-based Fitness Particle Swarm Optimization (PFPSO) is proposed to obtain the parameters of the Proportional-Integral-Derivative (PID) controller in this paper. The performance of the EHA system will be evaluated and compared based on the priority characters of the PFPSO tuning technique, which included settling time and overshoot percentage that affect the output results of the EHA system. As a result, it is observed that the priority based on settling time produced a better result, which enhances the steady-state performance of the EHA system that fulfills the requirement of the precision control. 1
ISA Transactions, 2020
In this article, the focus is on the energy efficiency along with the position control of the linear actuator used in heavy earth moving equipment. It is quite evident that linear actuators are one of the critical machinery components used in the construction and mining activities like in booms of excavation equipment. The proposed work employed two different hydraulic circuits and a contrast has been carried out in terms of the energy efficiency. In one hydraulic circuit, the conventional proportional directional control valve (PDCV) is used for the position control. In another one, an innovative solution of using proportional flow control valve (PFCV) by creating artificial leakage between the two ends of the actuator is evaluated according to its energy efficiency. The extra flow coming from the pump during position control is bypassed by PFCV rather than the pressure relief valve in PDCV. This reduces the energy loss in the form of heat and increases the efficiency of the hydraulic circuit. The simulation of the hydraulic circuit is performed using MATLAB/Simulink and results are compared with the experiments and it is found that hydraulic circuit using PFCV is 8.5% more energy efficient than the conventional circuit using PDCV. The position control of the actuator is done using PID controller tuned by the fuzzy controller.
Design of a Tuned PID Controller for a Hydraulic System
2016
In the matter of fact this paper aims to design a numerical PID controller for hydraulic system. The estimated model has been used to numerically tune the PID parameter to control the industrial hydraulic system and the step response of the system has been checked. Indeed for a hydraulic system designing an optimal control technique is required. Hydraulic system often uncertain parameters and contain components exhibiting strong friction, saturation, variable inertia mechanical loads, etc. Actually the characteristics of these non-linear components some time cannot known exactly as structure or parameters. So that, tuning of the traditional PID controller parameters to control this system for the required performance faces struggles and drawbacks. In congestion to that, in this paper design PID controller that has the capability to solve the control problem of highly uncertain systems like the hydraulic system.
System Identification and Control of a Hydraulic Actuator
2015
This paper basically is the modeling and control of an electro-hydraulic actuator which is an important system. It is applied in systems like ships, airplanes, manufacturing systems, process systems, robots, flight and sailing simulators and others. The system was modeled using ARX modeling technique using the system identification toolbox in MATLAB. A fuzzy logic controller was then developed for the electro-hydraulic actuator using Simulink/MATLAB. The Sugeno type fuzzy logic was used and a conventional Proportional Integral Derivative (PID) controller was also developed for comparison. The fuzzy controller outperformed the PID controller, it yields zero steady state error, 2.8% overshoot and settling time of 0.36 seconds. The system response was better with the PID controller which has a 0.0021 or 0.21% steady state error, 4.8% overshoot and settling time of 0.32 seconds. The response parameters of the system without controller are 0.0010 or 0.1% steady state error, an undershoot...
Intelligent PI Fuzzy Control of An Electro-Hydraulic Manipulator
The development of a fuzzy-logic controller for a class of industrial hydraulic manipulator is described. The main element of the controller is a PItype fuzzy control technique which utilizes a simple set of membership functions and rules to meet the basic control requirements of such robots. Using the triangle shaped membership function, the position of the servocylinder was successfully controlled. When the system parameter is altered, the control algorithm is shown to be robust and more faster compared to the traditional PID controller. The robustness and tracking ability of the controller were demonstrated through simulations.
Modeling and Controller Design of an Electro-Hydraulic Actuator System
American Journal of Applied Sciences, 2010
Problem statement: Electro-hydraulic actuators are widely used in motion control application. Its valve needs to be controlled to determine direction of the motion. Mathematical modeling is a description of a system in terms of equations. It can be divided into two parts; physical modeling and system identification. The objective of this study was to obtain mathematical model of an electro-hydraulic system using system identification technique by estimating model using System Identification Toolbox in MATLAB. Approach: Experimental works were done to collect input and output data for model estimation and ARX model was chosen as model structure of the system. The best model was accepted based on the best fit criterion and residuals analysis of autocorrelation and cross correlation of the system input and output. PID controller was designed for the model through simulation in SIMULINK. The controller is tuning by Ziegler-Nichols method. The simulation work was verified by applying the controller to the real system to achieve the best performance of the system. Results: The result showed that the output of the system with controller in simulation mode and experimental works were improved and almost similar. Conclusion/Recommendations: The designed PID controller can be applied to the electro-hydraulic system either in simulation or real-time mode. The self-tuning or automatic tuning controller could be developed in future work to increase the reliability of the PID controller.
Optimization of PID for industrial electro-hydraulic actuator using PSOGSA
TELKOMNIKA Telecommunication Computing Electronics and Control, 2019
The Electro-hydraulic actuator (EHA) systems known to be extremely nonlinear due to its dynamic characteristics and these existing nonlinearities and uncertainties yield to the constraint in the control of EHA system, which influences the position tracking accuracy and affect the occurrences of leakage and friction in the system. The purpose of this work is to develop the mathematical model for the industrial electrohydraulic actuator, then to design a controller by proportional-integral-derivative (PID) and optimize the parameters using Particle Swarm Optimization-Gravitational Search Algorithm (PSOGSA). A few controllers such as conventional PID (CPID) and model reference adaptive control (MRAC) designed for comparison. The performance of PID, PID-PSOGSA and modern controller MRAC will be compared in order to determine the most efficient controller. Despite all controllers are capable to provide good performance, PID-PSOGSA control methods generate good response compared to PID and MRAC in term of positioning. 1. Introduction EHA systems are important actuators in modern industries, principally because it offers many preferences such as high-power thickness, quick and smooth reaction attributes, and great ability in positioning. Because of its ability in positioning, it has been used in many applications for position control in modern equipment's such as aerospace, production assembly lines, industrial robots, aircrafts equipment's, machine tools, and submarine operations [1], and it has given a critical effect in the results. These applications required the highest performance of the electro-hydraulic actuator in term of positioning. The system inherently suffers from uncertainties and nonlinearities due to that many studies have been conducted recently, related to the EHA system problems to surmount thefise issues such as [2, 3]. One of the ways was optimizing the system controller performance. As optimization technique becomes popular nowadays, it can be utilized to optimize various types of controllers such as PID controller [4], MRAC and many more. However, position tracking performance of an EHA can be assured when its robustness and tracking accuracy are guaranteed. Therefore, the development of a suitable controller, which could reflect robustness and tracking accuracy, is very significant [5]. Currently, there are various controllers that can be used. Anyhow, one of the controllers that are very simple and effective is PID controller. The advantages of a PID controller is that it can provide robust performance for a wide range of operating conditions [6]. It can also reduce the dynamic range error, eliminate the steady-state error and improve in the transient response of the loopback functions system. In the literature, there are some studies have been done regarding the optimization for the PID controller using PSO algorithm [7, 8]. In the latest study, the PID controller that has been optimized by PSO algorithms shown some improvements. However, it could not surmount the nonlinearity issues of EHA, efficiently. In order to overcome the time consuming of the piston in order to stabilize, PSOGSA algorithm has been chosen in this study as the optimisation method to improve the response efficiency of the piston positioning of the EHA system. Moreover, as a comparison, an adaptive controller MRAC has been used since it has the ability to adjust itself to any parameter