This article presents the development of a multiple inner-loop control strategy for improving the performance of hydrostatic actuation systems. In these actuators, the presence of nonlinearities associated with pump/motor static friction and backlash, pressure drop in the piping system, and nonlinear friction at the load have a significant effect on the performance and positional accuracy of the system. The effect of nonlinear friction at the pump/motor interface has been overcome by the use of a high gain pump-speed inner-loop control strategy. In this article, the concept of inner-loop control will be extended to target other specific sources of performance degradation. Velocity feedback will be incorporated in this manner to decrease the effects of pump backlash and nonlinear friction at the load. Simulation results supported by theoretical analysis indicate that a considerable improvement in performance can be achieved by the implementation of this control strategy.
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habibi@mcmaster.ca
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January 2012
Technical Briefs
Inner-Loop Control for Electro-Hydraulic Actuation Systems
Mohammed A. El Sayed,
abugabma@mcmaster.ca
Mohammed A. El Sayed
Department of Mechanical Engineering, McMaster University
, Hamilton, Canada L8S 4L7
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Saeid Habibi
habibi@mcmaster.ca
Saeid Habibi
Department of Mechanical Engineering, McMaster University
, Hamilton, Canada L8S 4L7
Search for other works by this author on:
Mohammed A. El Sayed
Department of Mechanical Engineering, McMaster University
, Hamilton, Canada L8S 4L7abugabma@mcmaster.ca
Saeid Habibi
Department of Mechanical Engineering, McMaster University
, Hamilton, Canada L8S 4L7habibi@mcmaster.ca
J. Dyn. Sys., Meas., Control. Jan 2012, 134(1): 014501 (8 pages)
Published Online: December 2, 2011
Article history
Received:
August 6, 2009
Revised:
February 12, 2010
Online:
December 2, 2011
Published:
December 2, 2011
Citation
El Sayed, M. A., and Habibi, S. (December 2, 2011). "Inner-Loop Control for Electro-Hydraulic Actuation Systems." ASME. J. Dyn. Sys., Meas., Control. January 2012; 134(1): 014501. https://doi.org/10.1115/1.4001338
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