EFFECT OF CONTROLLER IN REDUCING STEADY-STATE ERROR DUE TO FLOW AND FORCE DISTURBANCES IN THE ELECTROHYDRAULIC ACTUATOR SYSTEM

Authors

  • Eric Sampson Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9
  • Saeid Habibi Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9
  • Richard Burton Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9
  • Yuvin Chinniah Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9

Keywords:

actuator, electrohydraulic, hydrostatic, micro-precision, disturbance rejection

Abstract

This paper pertains to the nonlinear control of a high-precision hydrostatic actuation system known as the Electro-Hydraulic Actuator (EHA). It describes the action of the controller in reducing the steady state error resulting from flow and force disturbances. The EHA uses inner-loop pump velocity feedback to achieve an unprecedented level of accuracy for a hydrostatic system. A published mathematical model of the EHA is reviewed and expanded to produce an equation that predicts the response of the EHA to both desired inputs as well as flow and force disturbances. This equation suggests that the use of a proportional outer-loop controller should result in steady-state error as a result of these disturbances, but that a PI outer-loop controller should eliminate the steady-state error. Experimental results from a prototype of the EHA demonstrate that due to the nonlinear friction present in the actuator, the use of a conventional proportional or PI controller is not sufficient to effectively deal with these disturbances. However, a nonlinear proportional outer-loop controller does result in a substantial performance improvement in regards to disturbance rejection for positional accuracy. Experiments conducted on the prototype using the nonlinear controller reveal that it is capable of a positional accuracy of 1 μm for a load of 20 kg.

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Author Biographies

Eric Sampson, Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9

Eric Sampson Received his B.Sc. in Mechanical Engineering in 2003 from the University of Saskatchewan, Canada. Performed research in the Department of Mechanical Engineering during the summer of 2003 as a NSERC USRA recipient. He is currently pursuing his M. Sc. at the same University in the area of intelligent control. His research interests include advanced control systems, robotics and MEMS.

Saeid Habibi, Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9

Saeid Habibi Obtained his Ph.D. in Control Engineering and Robotics from the University of Cambridge, UK. He worked as a project manager and senior consultant for Cambridge Control Ltd, UK and as manager of Systems Engineering for Allied Signal Aerospace Canada. His academic background includes research into design and analysis of hydraulic actuation systems, sensors and instrumentation and advanced multivariable control. He is on the Editorial Board of the CSME and a member of IEEE. He is currently an Associate Professor in Mechanical Engineering at the University of Saskatchewan, Canada.

Richard Burton, Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9

Richard Burton P.Eng, Ph.D, Assistant Dean, Professor, Mechanical Engineering, University of Saskatchewan. Burton is involved in research pertaining to the application of intelligent theories to control and monitoring of hydraulics systems, component design, and system analysis. He is a member of the executive of ASME, FPST Division, a member of the hydraulics' advisory board of SAE and NCFP and one of members of the international editorial board for FPNI.

Yuvin Chinniah, Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, Saskatchewan, Canada S7N 5A9

Yuvin Chinniah Ph.D. Candidate in the Mechanical Engineering Department, University of Saskatchewan, Canada. He was the recipient of a Canadian Commonwealth Scholarship in 1999. He obtained his B.Eng. (Hons), First Class, in Electrical and Electronic Engineering in Mauritius (1997). He also worked as an electrical engineer at Dynamotors Ltd in Mauritius for two years. His research interest includes fluid power control, control systems and estimation techniques such as the Kalman Filter.

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Published

2004-07-01

How to Cite

Sampson, E., Habibi, S., Burton, R., & Chinniah, Y. (2004). EFFECT OF CONTROLLER IN REDUCING STEADY-STATE ERROR DUE TO FLOW AND FORCE DISTURBANCES IN THE ELECTROHYDRAULIC ACTUATOR SYSTEM. International Journal of Fluid Power, 5(2), 57–66. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/587

Issue

2004: Vol 05 Iss 2

Section

Original Article