Electro-hydraulic Servo Control Research Articles

Research on Electro-hydraulic Servo Valve Structure and Control Algorithm of System with Servo Valve

Background: With the continuous progress of electronic information technology, people have begun to study the combination of electronic information technology and hydraulic technology to achieve more accurate and flexible control. Electro-hydraulic servo technology was thus developed. Much attanetion has been paid to electro-hydraulic servo valve,a key component of electrohydraulic servo technology. Objective: The number of stages of the electro-hydraulic servo valve, the structure form of the electro- hydraulic servo valve hydraulic front stage, the feedback form of the electro-hydraulic servo valve, the output form of electro-hydraulic servo valve, and the control algorithm based on the application of electro-hydraulic servo valve are analyzed and commented respectively. Combined with associated patents, the research direction and hot topics of electro-hydraulic servo valves are analyzed. Method: The electro-hydraulic servo valves were briefly classified; and then the problems of different types of valves were discussed in depth. Results: By analyzing the problems of electro-hydraulic servo valves, the problems of how to improve the control accuracy, response speed, anti-interference ability, service life and cost reduction of electro-hydraulic servo valves are analyzed comprehensively, and the future development prospect of electro-hydraulic servo valves is predicted and outlooked. Conclusion: Analyzing and discussing the existing hot issues of electro-hydraulic servo valves helps to update and change the electro-hydraulic servo valves, and makes corresponding references for the subsequent research of electro-hydraulic servo valves.

Force Compensation Control for Electro-Hydraulic Servo System with Pump–Valve Compound Drive via QFT–DTOC

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit (HDU), which features a high power–weight ratio. However, most HDUs are throttling-valve-controlled cylinder systems, which exhibit high energy losses. By contrast, pump control systems offer a high efficiency. Nevertheless, their response ability is unsatisfactory. To fully utilize the advantages of pump and valve control systems, in this study, a new type of pump–valve compound drive system (PCDS) is designed, which can not only effectively reduce the energy loss, but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots. Herein, considering the force control requirements of energy conservation, high precision, and fast response of the robot joint HDU, a nonlinear mathematical model of the PCDS force control system is first introduced. In addition, pressure–flow nonlinearity, friction nonlinearity, load complexity and variability, and other factors affecting the system are considered, and a novel force control method based on quantitative feedback theory (QFT) and a disturbance torque observer (DTO) is designed, which is denoted as QFT–DTOC herein. This method improves the control accuracy and robustness of the force control system, reduces the effect of the disturbance torque on the control performance of the servo motor, and improves the overall force control performance of the system. Finally, experimental verification is performed using the PCDS performance test platform. The experimental results and quantitative data show that the QFT–DTOC proposed herein can significantly improve the force control performance of the PCDS. The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

Sliding mode control of electro-hydraulic servo system based on double observers

Abstract. In this paper, in order to solve the real-time state value acquisition and external-disturbance problems faced during the working process of an electro-hydraulic servo system, a sliding mode controller based on dual observers is designed, which enables the system to effectively acquire the state value and realize better control accuracy. The method uses a high-gain observer to obtain the system state in real time and then adds a perturbation observer to provide more accurate state and perturbation observations for the sliding mode controller. The dual observer observes the obtained states and external perturbations and feeds these back to the sliding mode controller to control the system accurately. Finally, the observation performance of the observers is verified by comparative simulation, and the proposed control method can improve the control accuracy.

Research on Pump-Controlled AGC Micro-Displacement Position Control of Lithium Battery Pole Strip Mill Based on Friction Compensation Control Strategy of Imoroved LuGre Pattern

Accurate mathematical patterning of friction has always been a significant research project in the domains of machinery and control, and has played a crucial role in the analysis, control and compensation of mechanical systems containing friction. For high-property electrohydraulic servo control systems, friction compensation is an urgent problem to be solved. The LuGre friction pattern can represent most frictional behaviors, but the LuGre friction pattern is piecewise-continuous, making it non-differentiable. Therefore, the question of how to combine the LuGre friction pattern, enhancing its tracking capacity and robust performance problem, to friction perturbation in hydraulic backstep devices is an important focus for research. In this study, the conventional LuGre friction pattern was enhanced using the continuous differentiability of a friction of rest pattern that laid the foundation of a smooth tangent function. Laying the foundation of an electrohydraulic servo pump-controlled hydraulic roll-gap thickness automatic control system (pump-controlled AGC) pattern, a self-adapting friction compensation controller laid the foundation of the enhanced LuGre pattern. The gradual tracking capacity was determined academically using conditions of parameter, uncertainty and nonlinear friction, and the position control precision of the pump-controlled AGC system was enhanced. The steady-state error of the self-adapting friction compensation control system, which laid the foundation of the enhanced LuGre pattern, attained ±0.1 μm, and the tracking capacity was better than the LuGre pattern control and the conventional PID control strategy at low input speed.

LabVIEW-based servo valve dynamic and static test system

As a key component of the electro-hydraulic servo control system, the electro-hydraulic servo valve’s performance directly affects the stability of the system’s operation. Therefore, according to the company’s requirements, a servo valve testing system was designed based on LabVIEW. Firstly, the hydraulic system was designed according to the dynamic and static testing requirements of the servo valve. Then, the electrical control system and software system were designed based on PLC and LabVIEW. Finally, dynamic and static characteristic tests of the servo valve were conducted on the designed test bench. A flow-pressure dual closed-loop steady-state control method for testing the no-load flow characteristics was proposed, effectively improving the testing accuracy and meeting the company’s requirements.

Nonlinear position control of electro-hydraulic servo system based on lyapunov robust integral backstepping controller

In electro-hydraulic servo systems (EHSS), high nonlinearity and time-varying features limit the hydraulic actuator performance. In feedback-based systems, linearization reduces nonlinearities. Their cancellation may produce instability when modeling uncertainty exists. This work uses a robust nonlinear controller based on Lyapunov theory to control the nonlinear position of the electro-hydraulic servo system (EHSS). The dynamics of the system were modeled as extensively as possible, and then a simplified mathematical model based on the EHSS dynamics was created for the controller design. Integral backstepping was used to design the nonlinear robust controller utilizing the Lyapunov theory of nonlinear systems. Lyapunov functions theoretically ensured closed-loop stability. Comparative simulation analysis and experimental investigation in real-time with the proportional integral derivative (PID) controller optimized offline for position tracking control were carried out. Besides tracking performance and steady-state error, the mean square error (MSE), the root mean square error (RMSE), the maximum absolute value of tracking errors and the standard deviation of tracking errors (σ) was utilized to evaluate the controllers’ performance. The simulation analysis and experimental verification were accomplished under various sinusoidal trajectories using different testing conditions (amplitudes, frequencies, and external disturbance), in all testing conditions the effectiveness of the robust nonlinear integral backstepping controller was demonstrated.

Neural network-based finite-time command-filtered adaptive backstepping control of electro-hydraulic servo system with a three-stage valve

This paper aims to improve the tracking control performance of the three-stage valve (TSV) controlled electro-hydraulic servo system (EHSS) with parameter uncertainties and other lumped unknown nonlinearities, including unknown dynamics and disturbances. A more accurate nonlinear model of the TSV-controlled EHSS is established and a neural network-based finite-time command-filtered adaptive backstepping control (NNFCABC) method is proposed for the EHSS. Adaptive control is used to deal with the system parameter uncertainties, and the radial basis function neural network (RBFNN) algorithm is introduced to approximate the lumped unknown nonlinearities. The prediction errors of serial-parallel estimation models (SPEMs) and the tracking errors are utilized together to design adaptive laws to estimate the system parameters and the weights of the RBFNNs. The entire control framework utilizes command-filtered control and backstepping techniques. By applying Levant differentiators as command filters and introducing fractional power terms into the virtual control laws and the SPEMs, the proposed NNFCABC theoretically guarantees the tracking performance of the closed-loop control system with finite-time convergence. Comparative simulations and experiments verify the feasibility and superiority of the proposed control scheme.

Parameter identification and position control for helical hydraulic rotary actuators based on particle swarm optimization

It is difficult to obtain an accurate mathematical model in electro-hydraulic servo control system, due to the nonlinear factors such as dead zone, saturation, flow coefficient, and friction. Hence, a parameter identification algorithm, combining recursive least squares (RLS) with modified nonlinear particle swarm optimization (NPSO) algorithm, is proposed. On this basis, another improved NPSO algorithm is also put forward, aiming at searching for the optimal proportional–integral (PI) controller gain of the nonlinear hydraulic system while giving comprehensive consideration to the system performance indexes. The system identification experiments and position tracking control are conducted, respectively. As indicated by the comparison with the least squares (LS), RLS, PSO, and RLS–LPSO results, the proposed method shows higher identification and control accuracy.

Pump-Controlled AGC Micro-Displacement Position Control of Lithium Battery Pole Strip Mill Based on Friction Model

Electrode roll-forming refers to rolling a battery electrode into a preset thickness through the electro-hydraulic servo pump-controlled hydraulic roll gap thickness automatic control system (known to as pump-controlled AGC). Compared with the motor servo system, the friction problem of the electro-hydraulic servo system is more serious and the friction problem of the actuator itself is very prominent. Moreover, low-speed performance is one of its core indicators, the friction phenomenon is the most abundant during the low-speed stage and the impact on the servo system is also the most obvious. Therefore, for high-performance electro-hydraulic servo control, friction compensation is not only unavoidable, but also a very difficult problem. Aiming to influence the friction on the position control of the pump-controlled system of a lithium battery pole strip mill, the rolling mechanism and process procedure under micro-displacement position control based on the friction model were studied and compared from the perspective of considering friction factors, and a friction compensation controller based on the LuGre model was designed. The control precision of a pump-controlled AGC system was improved through combination with an adaptive robust controller. Because of the diversity of unmeasurable states of the system, a dual observer was designed, and the known model of the system was added to the observer. In the final comparative experiment, the steady-state accuracy of the friction adaptive robust compensation controller system based on the LuGre model reached ±0.3 μm, which is superior to the fuzzy IMC compensation and traditional PID control strategies.

Adaptive back-stepping Control of Electro-hydraulic Servo system of Steam Turbine

The parameters such as oil density and bulk elastic modulus of hydraulic oil in steam turbine electro-hydraulic servo system vary with ambient temperature, pressure, and other factors, and there are unmodeled dynamics in the system, so obtaining a satisfactory following effect is a challenging task for the electro-hydraulic servo(EHS) system. According to the principle of force balance and flow continuity, the mathematical model of a bilateral oil intake motor is established in this paper. On this basis, a back-stepping controller is designed, and an adaptive method is used to estimate uncertain parameters and disturbances. The designed control system is simulated and verified, and compared with the RBF control system after parameter optimization. The results show that the controller designed in this paper has good tracking performance and adaptability to uncertain parameters and external load disturbances.

Design and Control of a Linear Rotary Electro-Hydraulic Servo Drive Unit

In this paper, a new solution for an electro-hydraulic servo drive is proposed, which consists of two electro-hydraulic servo drives: one with a hydraulic cylinder and one with a hydraulic rotary motor. In the proposed drive, the linear actuator is attached to a horizontal base and the hydraulic motor is mounted on the actuator piston rod. Thus, the output signal of the drive is the lifting and lowering of the element suspended on the rope. The paper describes the structure, kinematics, dynamics, and control of a novel electro-hydraulic servo drive. A servo valve and a proportional valve are used to control the flow of the hydraulic cylinder and the hydraulic motor. Special attention is paid to the construction of two actuators in one drive unit. The controller is based on the PLC controller. The measuring system uses laser displacement sensors and an encoder. The results of laboratory investigations are discussed in the paper. The proposed drive contains all of the characteristics of a mechatronic device. The main contribution of this study is the proposal of the controller architecture and the algorithm to control the speed and position when lifting or lowering loads.

Research on control of electro-hydraulic servo system based on third-order linear ADRC

PurposeThe purpose of this paper is to design a third-order linear active disturbance rejection controller (LADRC) to improve the response characteristics and robustness of the electrohydraulic servo system.Design/methodology/approachThe LADRC was designed by replacing the nonlinear functions in each part of ADRC with linear functions or linear combinations, and the parameters of each part of the LADRC were connected with their bandwidth through the pole configuration method to reduce the required tuning parameters, and used an improved grey wolf optimizer to tune the LADRC parameters.FindingsThe anti-interference control simulation and experiment on the LADRC, ADRC and proportion integration differentiation (PID) were carried out to test the robustness, anti-interference ability and superiority of the designed LADRC. The simulation and experiment results showed that the LADRC control and anti-interference control had excellent performance, and because of its simple structure and fewer parameters, LADRC was easier to implement and had a better control effect and anti-interference.Originality/valueFor the problems of parameter perturbation, unknown interference and inaccurate model in the electrohydraulic position servo system, the designed third-order LADRC has good tracking accuracy and anti-interference, has few parameters and is conducive to promotion.

The investigation of a unbalanced barrel pitching system’s characteristics degradation and compensation under gradual erosion behavior

The unbalanced barrel pitching system is a typical electro-hydraulic coupling servo control system, the performance of which determines the response speed and hit probability of vehicle mounted weapon equipment. However, in the actual service process, its core component, the high precision jet pipe servo valve, will produce the gradual erosion of the pilot stage’s receivers and the power stage’s throttling edges, which will induce the performance degradation of the unbalanced barrel pitching system, and finally greatly reduce the performance of barrel weapons. Therefore, a pressure and position double loop state space model of unbalanced barrel pitching system including the core parameters of performance degradation is established. The erosion behavior mechanism model of jet pipe servo valve is constructed, and the performance degradation characteristics of the unbalanced barrel pitching control system under the condition of erosion are further analyzed. Finally, aiming at the double loop structure of internal pressure loop and external position loop, the RBF Network Adaptive Robust Sliding Mode-Proportional Integral Derivative two-stage controller of barrel system is designed, based on which the experimental platform of unbalanced barrel pitching control is built. The experimental results are in good agreement with the theoretical results, so the proposed control method can effectively suppress the degradation of internal structural parameters induced by erosion, that is, it can better compensate the performance degradation of barrel pitching system induced by gradual erosion behavior.

Prescribed Performance Control for Electro-hydraulic Servo System of the Ammunition Manipulator

There are stochastic initial disturbances which lead to unexpected tracking errors of the ammunition manipulator during the starting stage. In this paper, a prescribed performance control strategy is proposed for the steady constraint control of the ammunition coordinator. In order to keep the position errors of the ammunition coordinator in the whole tracking control process within the prescribed constraint range, the prescribed performance control theory is adopted to convert the system original error into a new error form that can be restrained through error transformation, and the performance function is designed to constrain the error boundary. The second-order command filter is used to reduce the derivation calculation error of the virtual control variables during the backstepping iteration and the corresponding filtering error compensation algorithm is designed to improve the control accuracy. In addition, adaptive laws are well-designed to compensate the uncertainty of system parameters. The simulation analysis shows that the designed prescribed performance controller obtains good control performance. The convergence and stability of the tracking error of the ammunition manipulator are achieved, and the prescribed performance function prevents the violation of tracking error performance constraints.

Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator

This paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, the dynamics is derived using a driven Jacobin matrix, which represents the coupling between the hydraulic servo-driven system and rigid–flexible manipulator established using the assumed mode method and Lagrange principle. Furthermore, the whole dynamic model of the manipulator system is decoupled into a second slow subsystem (SSS), a second fast subsystem (SFS) and a first fast subsystem (FFS). The three subsystems can describe a large range of movement, flexible vibration and electro-hydraulic servo control, respectively. Hereafter, an adaptive dynamic programming trajectory tracking control law with a critic-only policy iteration algorithm is presented in the second slow timescale, while both robust optimal control (ROC) in the second first timescale and adaptive sliding mode control (ASMC) in the first fast timescale are also designed using the Lyapunov stability theory. Finally, the numerical simulations are carried out to illustrate the rightness and robustness of the singular perturbation decomposition and proposed composite control algorithm.

Position control of electro-hydraulic servo system using active disturbance rejection control for upper-limb exoskeleton

This paper presents a two-degree-of-freedom(2-DOF) upper-limb exoskeleton actuated by electro-hydraulic servo system (EHSS), and position control based on active disturbance rejection control (ADRC) strategy. Proportional integral derivative (PID) controller is widely used in EHSS system because it is model free, and its parameters can be adjusted easily. However, the nonlinear dynamics of EHSS is subject to parameter variations and friction effects during operation. The trajectory tracking performance of this method is limited due to the uncertain model parameter and external disturbance of EHSS in exoskeleton. To actively compensate the total disturbance including the system uncertainty and external disturbance, and ensure the finite time convergence of disturbances, the ADRC controller is developed. The disturbances can be estimated by the extended state observer (ESO) and compensated during each sampling period in the ADRC method. The proposed control strategy not only satisfies the steady-state accuracy demands, but also effectively resists to the system uncertainties and the disturbance. To validate the feasibility of the proposed control strategy, the simulations were carried out. The numerical simulation results clearly indicate the superior performance of proposed ADRC method over the regular PID control approach.

Robust output feedback control for electro-hydraulic servo system with error constraint based on high-order sliding mode observer

In this paper, a robust output feedback controller with error constraint is proposed to improve the position tracking performance of the electro-hydraulic servo system. Since only the position signal of the system is available, a high-order sliding mode observer is designed to estimate the unobtainable system states. The new state observer can not only avoid the influence of sensor measurement noise but also reduce the chattering of traditional sliding mode observer. To cope with the modeling error, parameter uncertainty, and external disturbance, a robust controller based on backstepping method is designed. In addition, barrier Lyapunov function is introduced to limit the maximum tracking error to a preset range. Finally, comparative experiments are carried out on the asymmetric hydraulic cylinder test bench. The experimental result shows that the proposed controller has a satisfied tracking performance.

RISE-based adaptive control of electro-hydraulic servo system with uncertain compensation.

Electro-hydraulic servo system (EHSS) plays an important role in many industrial and military applications. However, its high-performance tracking control is still a challenging mission due to its nonlinear system dynamics and model uncertainties. In this paper, a novel adaptive robust integral method of the sign of the error (ARISE) with extended state observer (ESO) is proposed. Firstly, the nonlinear mathematical model of typical EHSS with modeling uncurtains and uncertain nonlinear is established. Then, ESO is used to estimate the state and lumped disturbance, of which the unknown parameter estimations can be updated by the novel adaptive law. Results shows that the novel controller achieves better tracking performance in maximum tracking error, average tracking error and standard deviation of the tracking error.

Research on the Control Method of Force Servo System of Liquid Hydrostatic Guide Oil Film Thickness Test Bench for Machine Tools

The test bench was designed to solve the problem of measuring the oil film thickness of the liquid hydrostatic guideway of machine tools. And based on the fast overshoot of the classical PID control, introducing the self-antidisturbance control algorithm, this study established a mathematical model of the test bench electro-hydraulic servo control system. At the same time, this paper also designed a specific structure of the self-turbulence controller, which adopts optimal quadratic control, pole configuration, PID control, and self-turbulence control to study the control methods of the test bench electro-hydraulic servo system, respectively, and uses the SIMULINK module to establish the system simulation model of the above-mentioned four control methods of the test bench. Simulation results of the test bench control system show that the response speed of the self-turbulence control is 0.4 seconds, 0.2 seconds, and 4.4 seconds faster than PID control, pole configuration, and optimal quadratic control, respectively, and the overshoot is significantly reduced. Finally, the test bench was built to complete the experiments, and the experimental results showed that the followability of the loading force and thickness detection accuracy of the test bench were better after adding the self-turbulence control algorithm and the stability of the oil film thickness was significantly improved by the test bench electro-hydraulic servo control system.

Optimal analysis of VSL following-up performance considering hydraulic system SAD control strategy

Hydraulic system lubricating oil is subject to serialized Variable Static Loads (VSL) following-up performance. An improved Self-Turbulent Flow (STF) algorithm, based on the real-time acquisition and monitoring of Lubricating Oil Static Pressure (LOSP) in hydraulic system to simulate VSL, is proposed. In this topic, a mathematical model of the Electro-Hydraulic Servo (EHS) control system for LOSP acquisition is presented, and the STF controller is designed for numerical analysis. The Self-Anti-Disturbance (SAD) control strategy for LOSP of EHS system is discussed, which is used for quadratic optimization, pole placement, PID and STF control, and the LOSP simulation model of STF control is constructed by SIMULINK module. Numerical simulation results indicate that the overshoot is significantly reduced. The proposed SAD control algorithm is verified by experiments, and the LOSP acquisition followability and monitoring accuracy are greatly improved. Toward this goal, a variable hydraulic LOSP acquisition and monitoring can be effectively and stability adjusted by pre-designed EHS control system in the field of power hydraulic fluid lubrication.