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Precise position control of an electro-hydraulic servo system via robust linear approximation.

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Title: Precise position control of an electro-hydraulic servo system via robust linear approximation.
Authors: Fallahi, M.1 mfalahi@aut.ac.ir, Zareinejad, M.2 mzare@aut.ac.ir, Baghestan, K.1 k_baghestan@aut.ac.ir, Tivay, A.1 alitivay@aut.ac.ir, Rezaei, S.M.1 smrezaei@aut.ac.ir, Abdullah, A.1 amirah@aut.ac.ir
Source: ISA Transactions. Sep2018, Vol. 80, p503-512. 10p.
Subjects: Electrohydrodynamics, Robust control, Approximation theory, Linear matrix inequalities, Uncertainty, Taylor's series
Abstract: Abstract This paper presents a study on electro-hydraulic servo system for the purpose of position control using a compatible linear model. The system has high level of nonlinearity and linearization introduces extra error in system model. In order to reduce this error several methods of linearization uncertainty are discussed. In spite of applying Taylor's series for all methods, several procedures are used for considering uncertainty on linearization constants. In the first procedure, a simple bound is considered for each linearization constant. In the second procedure, a polytope is extracted for the uncertainty by a graphical method. Finally, a procedure with less conservativeness and less restriction is proposed. This procedure is used to extract the linear model of the electro-hydraulic servo system for the task of position control. The resulting model is used to synthesize an output-feedback H ∞ controller for the EHSS using a Linear Matrix Inequality (LMI)-based approach. The effectiveness of the proposed method is demonstrated by simulation and experimental results. The results showed that the procedure is less conservative and has the fastest operation without any overshoot. Highlights • The Electro-Hydraulic Servo System has high level of nonlinearity and linearization introduces extra error in system model. • A less conservative and less restrictive procedure is proposed for linearizing systems with high level of nonlinearity. • Polytopic linearization uncertainty with a robust H ∞ controller is used to address the linearization error. • The effectiveness of the proposed method is demonstrated by simulation and experimental results. • The results showed that the procedure has the fastest operation without any overshoot in comparison with the other procedures. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
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Abstract:Abstract This paper presents a study on electro-hydraulic servo system for the purpose of position control using a compatible linear model. The system has high level of nonlinearity and linearization introduces extra error in system model. In order to reduce this error several methods of linearization uncertainty are discussed. In spite of applying Taylor's series for all methods, several procedures are used for considering uncertainty on linearization constants. In the first procedure, a simple bound is considered for each linearization constant. In the second procedure, a polytope is extracted for the uncertainty by a graphical method. Finally, a procedure with less conservativeness and less restriction is proposed. This procedure is used to extract the linear model of the electro-hydraulic servo system for the task of position control. The resulting model is used to synthesize an output-feedback H ∞ controller for the EHSS using a Linear Matrix Inequality (LMI)-based approach. The effectiveness of the proposed method is demonstrated by simulation and experimental results. The results showed that the procedure is less conservative and has the fastest operation without any overshoot. Highlights • The Electro-Hydraulic Servo System has high level of nonlinearity and linearization introduces extra error in system model. • A less conservative and less restrictive procedure is proposed for linearizing systems with high level of nonlinearity. • Polytopic linearization uncertainty with a robust H ∞ controller is used to address the linearization error. • The effectiveness of the proposed method is demonstrated by simulation and experimental results. • The results showed that the procedure has the fastest operation without any overshoot in comparison with the other procedures. [ABSTRACT FROM AUTHOR]
ISSN:00190578
DOI:10.1016/j.isatra.2018.06.002