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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

《机械工程前沿（英文）》 2018年第13卷第2期页码 179-210 doi: 10.1007/s11465-018-0464-3

摘要：

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

关键词： hydraulic servo system adaptive control robust control nonlinear friction disturbance compensation repetitive control noise alleviation constraint control

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Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

《机械工程前沿（英文）》 2007年第2卷第1期页码 82-88 doi: 10.1007/s11465-007-0014-x

摘要： The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were identified and automatically tuned. With the reverse solution module of the translation, the module with the exerted translation joint was obtained, which included the location, velocity and acceleration of the parallelogram carriage-branch. The rigid dynamic reverse model was set as the virtual work principle. To identify the variables of the servo system, the triangle-shaped input signal with variable frequency was adopted to overcome the disadvantages of the pseudo-random number sequence, i.e., making the change of the vibration amplitude of the motor dramatically, easily impact the servo motor and make the velocity loop open and so on. Moreover, all the variables including the rotary inertia of the servo system were identified by the additive mass. The overshoot and rise time were the optimum goals, the limited changing load with the attitude was considered, and the range of the controller variables in the servo system was identified. The results of the experiments prove that the method is accurate.

关键词： acceleration reconfigurable parallel additive sequence parallel mechanism

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Gray-box modeling and QFT control for precision servo transmission systems

Xiulan BAO, Xuedong CHEN, Xin LUO, Haocheng ZUO

《机械工程前沿（英文）》 2011年第6卷第4期页码 442-448 doi: 10.1007/s11465-011-0242-y

摘要：

Precision servo transmission systems have widely been applied in industrial equipment to achieve high accuracy and high speed motion. However, due to the presence of friction and uncertainty, the characteristics of precision servo transmission systems are variant depends on the working conditions, leading to oscillation and instability in the system performances. In this paper, a grey-box model of the system is established, the model structure derived from the theoretical modeling and the model parameters are obtained by experiments using set membership identification method. This paper proposes two-degrees of freedom (2-DOF) robust position controller for a precision servo transmission system, based on the quantitative feedback theory (QFT), to achieve high accuracy and consistent tracking performance even in presence of considerable system uncertainties and friction disturbances. The results of simulate and experiment validate the effectiveness of the proposed controller.

关键词： precision servo transmission system modeling set membership identification quantitative feedback theory (QFT) robustness

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Distributed monitoring and diagnosis system for hydraulic system of construction machinery

Xiaohu CHEN, Wenfeng WU, Hangong WANG, Yongtao ZHOU,

《机械工程前沿（英文）》 2010年第5卷第1期页码 106-110 doi: 10.1007/s11465-009-0089-7

摘要： This paper mainly presents a distributed monitoring and diagnosis system for the hydraulic system of construction machinery based on the controller area net (CAN) field bus. The hardware of the distributed condition monitoring and fault diagnosis system is designed. Its structure including the sensors, distributed data acquisition units, central signal processing unit, and CAN field bus is introduced. The software is also programmed. The general software design and its realization are studied in detail. The experiments and applications indicate that the distributed condition monitoring and fault diagnosis system can effectively realize its function of real-time online condition monitoring and fault diagnosis for the hydraulic system of construction machinery.

关键词： construction machinery hydraulic system distributed condition monitoring controller area net (CAN) field bus fault diagnosis

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Simulation analysis of pressure regulation of hydraulic thrust system on a shield tunneling machine

Zhibin LIU, Haibo XIE, Huayong YANG

《机械工程前沿（英文）》 2011年第6卷第3期页码 377-382 doi: 10.1007/s11465-011-0226-y

摘要：

Hydraulic thrust system is an important system in a shield tunneling machine. Pressure regulation of thrust cylinders is the most important function for thrust system during tunnel excavation. In this paper, a hydraulic thrust system is explained, and a corresponding simulation model is carried out in order to study the system characteristics. Pressure regulation of a certain group’s cylinders has little influence on regulation of the other groups’ cylinders. The influence will not affect the process much during tunnel excavation. Pump displacement may have a greater effect on pressure regulation and oil supply flow rate should be adaptive to the system’s demand. A exacting situation is simulated to explain how pressure regulation works during tunnel excavation.

关键词： tunnel hydraulic thrust system pressure regulation simulation

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火箭炮交流位置伺服系统的鲁棒最优控制

柴华伟,马大为,李志刚,乐贵高,王锋

《中国工程科学》 2007年第9卷第10期页码 83-87

摘要：

为了实现某火箭炮交流伺服系统的高速、高精度位置控制，针对实际系统中存在的转动惯量和负载力矩变化大、冲击力矩强等各种不确定因素，提出了一种鲁棒最优控制方法。实验结果表明，该控制器鲁棒性强，而且具有较好的动态性能及稳态精度。

关键词：火箭炮交流位置伺服系统鲁棒控制最优控制

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Review of fluid and control technology of hydraulic wind turbines

Maolin CAI, Yixuan WANG, Zongxia JIAO, Yan SHI

《机械工程前沿（英文）》 2017年第12卷第3期页码 312-320 doi: 10.1007/s11465-017-0433-2

摘要：

This study examines the development of the fluid and control technology of hydraulic wind turbines. The current state of hydraulic wind turbines as a new technology is described, and its basic fluid model and typical control method are expounded by comparing various study results. Finally, the advantages of hydraulic wind turbines are enumerated. Hydraulic wind turbines are expected to become the main development direction of wind turbines.

关键词： wind turbine hydraulic system fluid model control technology

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油压极值比与极值比效率

齐茂林

《中国工程科学》 2001年第3卷第4期页码 73-75

摘要：

文章应用基础公式，推导液压系统油压极值比与极值比效率之间的关系式。该式说明，油压极值比越大，极值比效率就越低。提出了油压极值比是可以设计和选择的。

关键词：油压极值比极值比效率液压系统

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Modeling and analysis of steady-state vibration induced by backlash in servo rotary table

Xiao YANG,Dun LU,Sanli LIU,Jun ZHANG,Wanhua ZHAO

《机械工程前沿（英文）》 2015年第10卷第1期页码 43-47 doi: 10.1007/s11465-015-0327-0

摘要：

Backlash cannot be always avoided in mechanical systems because of wear or looseness. Steady-state vibration may be induced by backlash in closed loop feed drive systems. This paper presents a mathematical model of a servo rotary table, considering the effect of backlash. The accuracy of this model is verified by an experiment. The influences of the parameters, such as position controller gain, velocity controller gain, load and the magnitude of backlash, on steady-state vibration are discussed. The steady-state vibration amplitude increases with the position controller gain, load and the magnitude of backlash. The steady-state vibration frequency increases with the position controller gain and the velocity controller gain, while an increase in load leads to a decrease in the frequency.

关键词： backlash servo rotary table steady-state vibration

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Control algorithm of a servo platform

Shouyong XIE, Xiwen LI, Shuzi YANG, Mingjin YANG,

《机械工程前沿（英文）》 2010年第5卷第3期页码 353-355 doi: 10.1007/s11465-010-0098-6

摘要： According to the characteristics of the movement of a special-purpose three-axis servo platform, this paper presents an improved grey prediction proportional integral derivative (PID) control algorithm. Different weights at different time are given to different sampling moments in the algorithm, and the time meanings of the sample data are paid more attention. Simulation results show that the performance of response and stability of the platform of the improved algorithm is better than that of the traditional one. The control algorithm meets all requirements of the control system of the special-purpose three-axis servo platform.

关键词： grey prediction proportional integral derivative (PID) control improved algorithm weight servo platform

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System construction of a four-side primary permanent-magnet linear motor drive mechanical press

Jintao LIANG, Zhengfeng MING, Peida LI

《机械工程前沿（英文）》 2020年第15卷第4期页码 600-609 doi: 10.1007/s11465-020-0597-z

摘要： A primary permanent-magnet linear motor (PPMLM) has a robust secondary structure and high force density and is appropriate for direct-drive mechanical press. The structure of a four-side PPMLM drive press is presented based on our previous research. The entire press control system is constructed to realize various flexible forming processes. The control system scheme is determined in accordance with the mathematical model of PPMLM, and active disturbance rejection control is implemented in the servo controller. Field-circuit coupling simulation is applied to estimate the system’s performance. Then, a press prototype with 6 kN nominal force is fabricated, and the hardware platform of the control system is constructed for experimental study. Punch strokes with 0.06 m displacement are implemented at trapezoidal speeds of 0.1 and 0.2 m/s; the dynamic position tracking errors are less than 0.45 and 0.82 mm, respectively. Afterward, continuous reciprocating strokes are performed, and the positioning errors at the bottom dead center are less than 0.015 mm. Complex pulse trajectories are also achieved. The proposed PPMLM drive press exhibits a fast dynamic response and favorable tracking precision and is suitable for various forming processes.

关键词： mechanical press direct drive primary permanent-magnet linear motor (PPMLM) servo system active disturbance rejection control (ADRC) prototype experiment

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未来飞机液压系统的特点

王占林,陈斌

《中国工程科学》 1999年第1卷第3期页码 5-10

摘要：

现代飞机舵面操纵系统与动力收放系统几乎都是液压驱动的。随着飞机特别是军用飞机的发展，对机载液压系统提出了更高的要求。文章对飞机特别是军用飞机液压系统的主要发展趋势进行了综述，并对国内外的飞机液压系统的研究工作进行了一定的介绍。指出：质量轻、体积小、高压化、大功率、变压力、智能化、集成化、余度技术等是未来飞机液压系统的主要发展趋势，尤其是高压变压力泵源系统对未来飞机的发展尤为重要。

关键词：机载液压系统高压化变压力余度功率电传

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Experimental Study on the Piezoelectric Prestage Driver of Electrohydraulic Servo Valves

CHENG Guang-ming, SHEN Chuan-liang, YANG Zhi-gang

《机械工程前沿（英文）》 2006年第1卷第1期页码 56-59 doi: 10.1007/s11465-005-0017-4

摘要：

A piezoelectric actuated prestage driver of hydraulic servo valves for the low-frequency response of electrohydraulic servo valve electromagnetic prestage driver was presented. The new driver was driven by piezoelectric multilayer actuators. The displacement of a piezoelectric multilayer actuator was amplified by a flexure-hinged amplifier based on the principles of triangle amplification. Static and dynamic characteristics were tested on the model machine. The characteristics of good linearity, high resolution, and high-frequency response were approved. The natural frequency reached 1.201 kHz using finite element analysis, and the practice measurement result was 1 kHz.

关键词： flexure-hinged amplifier kHz amplification high-frequency electromagnetic

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Recent developments in passive interconnected vehicle suspension

Wade A. SMITH, Nong ZHANG,

《机械工程前沿（英文）》 2010年第5卷第1期页码 1-18 doi: 10.1007/s11465-009-0092-z

摘要： This paper presents an overall review on the historical concept development and research advancement of passive hydraulically interconnected suspension (HIS) systems. It starts with an introduction to passive HIS systems and their various incarnations developed over many decades. Next, a description is provided of a recently proposed multidisciplinary approach for the frequency-domain analysis of vehicles fitted with an HIS. The experimental validation and applications of the method to both free and forced vibration analysis are discussed based on a simplified, roll-plane half-car model. A finite-element-method-based approddach for modelling the transient dynamics of an HIS vehicle is also briefly outlined. In addition, recent work on the investigation of NVH associated with HIS-equipped vehicles is mentioned. Discussion is then provided on future work to the further understanding of HIS and its applications. The paper concludes that interconnected suspension schemes can provide much greater flexibility to independently specify modal stiffness and damping parameters – a characteristic unique among passive suspensions. It points out that there is a need for system optimisation, and there are troublesome NVH issues that require solutions. It suggests that further research attention and effort be paid to NVH issues and system level optimisation to gain a greater understanding of HIS and to broaden its applications.

关键词： interconnected suspensions rollover prevention vehicle dynamics ride comfort multibody system dynamics hydraulic system dynamics

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Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism

YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing

《机械工程前沿（英文）》 2006年第1卷第1期页码 60-66 doi: 10.1007/s11465-005-0019-2

摘要：

Aiming at a parallel mechanism with three degrees of freedom, a method for dynamic model building and the parameter identification of its servosystem is presented. First, the reverse solution models of position, velocity, and acceleration of parallelogram branch structure are deduced, and then, its dynamic model of a rigid body is set up by using the virtual work principle. Based on the above model, a method to identify the servo parameter of the parallel mechanism is put up. In this method, the triangle-shaped input with variable frequency is adopted to offset the disadvantages of pseudorandom number sequence in parameter identification, such as dramatically changing the vibration amplitude of the motor, easily impacting the motor that results in its velocity loop to easily open, and so on. Moreover, the rotary inertia can also be identified by the additive mass. The abovementioned data will lay a solid foundation for the optimum performance of the system in the whole workspace.

关键词： building acceleration additive workspace optimum performance