Abstract
Problem statement: While classical PID controllers are sensitive to variations in the system parameters, Fuzzy controllers do not need precise information about the system variables in order to be effective. However, PID controllers are better able to control and minimize the steady state error of the system. To enhance the controller performance, hybridization of these two controller structures comes to one mind immediately to exploit the beneficial sides of both categories. Approach: A hybrid fuzzy PID controller for the Electro-Hydraulic Position Servo System (EHPSS) was proposed in this study. The proposed control scheme was separated into two parts, fuzzy controller and PID controller. Fuzzy controller was used to control the piston when the piston locates far away from the target position. PID controller is applied when the piston is near the desired position. Results: We demonstrated the performance of control scheme via experiments performed on the EHPSS. Conclusion: The results from the experiments showed that the proposed hybrid fuzzy PID controller has superior performance compared to individual PID controller and fuzzy controller.
Highlights
The application of hydraulic actuation to heavy duty equipment reflects the ability of the hydraulic circuit to transmit larger forces and to be controlled
In our experiments we compare the performance of individual PID and fuzzy controllers to the proposed hybrid fuzzy PID controller
It can be concluded that the hybrid fuzzy PID controller is suited for the Electro-Hydraulic Position Servo Systems (EHPSS)
Summary
The application of hydraulic actuation to heavy duty equipment reflects the ability of the hydraulic circuit to transmit larger forces and to be controlled. It has many distinct advantages such as the fast response speed, very high system stiffness and a higher force to weight ratio (Zhao and Virvalo, 1993; Li et al, 2006). There are many challenges in the design of electro-hydraulic control system (Zhao and Virvalo, 1993; Li et al, 2006; Chuang and Shiu, 2004) They are the highly nonlinear phenomena such as fluid compressibility, the flow/pressure relationship and deadband due to the internal leakage and hysteresis and the many uncertainties of hydraulic systems due to linearization. It seems to be quite difficult to perform a high precision servo control by using linear control method
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