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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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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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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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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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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

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Design and analysis of a new high frequency double-servo direct drive rotary valve

Muzhi ZHU,Shengdun ZHAO,Jingxiang LI

《机械工程前沿（英文）》 2016年第11卷第4期页码 344-350 doi: 10.1007/s11465-016-0406-x

摘要：

Researchers have investigated direct drive valve for many years to solve problems, such as fluid force imbalance and switching frequency. The structure of the rotary valve has received considerable research interest because of its favorable dynamic properties and simple structure. This paper studied the high frequency double-servo direct drive rotary valve (DDRV), and proposed a novel structure and drive method satisfying high reversing frequency and adequate quantity of flow. Servo motors are integrated into the valve by the innovative structure, which is designed to equilibrate the unbalanced radial fluid force with the symmetric distributed oil ports. Aside from the fast reversing function of the valve, the DDRV presented high performance in linearity of the flow quantity and valve opening as a result of the fan-shaped flow ports. In addition, a computational fluid dynamics (CFD) method based on Fluent was conducted to verify the flux regulation effect of the height change of the adjustable boss.

关键词： direct drive rotary valve computational fluid dynamics (CFD) flow regulation

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交流伺服直驱式旋锻机的动力学理论研究

宋涛,赵升吨,闫观海,刘红宝

《中国工程科学》 2013年第15卷第1期页码 63-67

摘要：

提出了高速伺服直驱式旋锻机结构，分析设计了基于摆线运动曲线的锤头轮廓曲线，采用上限法确定了旋锻机在极限工况下的最大输出载荷上限的变化规律。研究表明，随着进料角的增大，锻机负载有所降低，但同时工件需要更大的推进力，因此实际中采用的进料角的范围为5°~15°。

关键词：旋转锻造伺服驱动上限法

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Micro-optical fabrication by ultraprecision diamond machining and precision molding

Hui LI, Likai LI, Neil J. NAPLES, Jeffrey W. ROBLEE, Allen Y. YI

《机械工程前沿（英文）》 2017年第12卷第2期页码 181-192 doi: 10.1007/s11465-017-0444-z

摘要：

Ultraprecision diamond machining and high volume molding for affordable high precision high performance optical elements are becoming a viable process in optical industry for low cost high quality microoptical component manufacturing. In this process, first high precision microoptical molds are fabricated using ultraprecision single point diamond machining followed by high volume production methods such as compression or injection molding. In the last two decades, there have been steady improvements in ultraprecision machine design and performance, particularly with the introduction of both slow tool and fast tool servo. Today optical molds, including freeform surfaces and microlens arrays, are routinely diamond machined to final finish without post machining polishing. For consumers, compression molding or injection molding provide efficient and high quality optics at extremely low cost. In this paper, first ultraprecision machine design and machining processes such as slow tool and fast too servo are described then both compression molding and injection molding of polymer optics are discussed. To implement precision optical manufacturing by molding, numerical modeling can be included in the future as a critical part of the manufacturing process to ensure high product quality.

关键词： ultraprecision machining slow tool servo fast tool servo compression molding injection molding microlens arrays optical fabrication

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Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Guisheng ZHAI, Masayuki NAKA, Tomoaki KOBAYASHI, Joe IMAE

《机械工程前沿（英文）》 2012年第7卷第1期页码 16-22 doi: 10.1007/s11465-012-0316-5

摘要：

This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of ?∞ control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.

关键词： four-wheeled electric vehicles neutral steer sideslip reduction servo system ?∞ control&sortBy=weightDesc"> ?∞ control')" href="#">?∞ control gain scheduling linear matrix inequality (LMI)

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一种同时控制非完整约束底盘和机械臂的混合视觉伺服方法 Research Articles

李玮,熊蓉

《信息与电子工程前沿（英文）》 2021年第22卷第2期页码 141-286 doi: 10.1631/FITEE.1900460

摘要：视觉伺服控制规则是指利用机器人上所安装相机获取的图像数据进行机器人运动规划的控制方法，通常分为基于图像的视觉伺服、基于位置的视觉伺服和混合视觉伺服（HVS）控制规则。移动操作可扩大机械臂的工作范围和灵活性，但目前将视觉伺服控制应用于完整移动作业机器人运动的研究较少。本文提出一种面向6自由度机械臂与非完整移动基座组合构成的移动操作机器人HVS运动控制方法。基于移动操作机器人的运动学微分方程，推导了整个机器人的全局雅可比矩阵，进而结合位置信息和视觉图像信息推导了HVS控制方程。夹持器和目标之间的距离是通过安装在夹持器上的摄像机观察标记来计算的，并计算了在图像坐标系中标记特征点位置与期望位置之间的差异。将这些差异代入控制方程，可得到移动操作机器人各自由度的速度控制规律。为避免由观测引起的位置误差，引入卡尔曼滤波来校正机械臂末端的位置和方向。最后，在一台由Bulldog底盘、UR5机械臂和ZED相机组成的移动操作平台上进行了实验验证。

关键词：移动作业；混合视觉伺服；眼在手上；全局雅可比；卡尔曼滤波

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面向精密增材制造的大范围柔性伺服系统

Zhen Zhang, Peng Yan, Guangbo Hao

《工程（英文）》 2017年第3卷第5期页码 708-715 doi: 10.1016/J.ENG.2017.05.020

摘要：

本文主要介绍可用于微立体光固化（MSL）工艺的基于分布柔度簧片的大范围柔性纳米伺服系统的设计、开发和控制。作为这一高精度工艺的使能技术，本文设计了一种兼具毫米级运动行程和纳米级运动精度的紧凑型台式柔性纳米运动系统。由于在运行中无需装配和维护，这种柔性运动系统非常适合苛刻的操作条件。从机械设计的角度来看，镜像对称布局和适当的冗余约束对于抑制寄生运动至关重要。本文对此系统进行了详细的有限元分析（FEA），分析结果表面系统具有满意的机械特征。通过纳米运动系统的动力学模型辨识，本文设计了实时控制策略，并将其应用在一体加工的原型系统中。实验验证了面向MSL 工艺过程的轨迹跟踪性能。所提出的纳米伺服运动系统具有毫米级的工作范围，圆轨迹跟踪误差约为80 nm（均方根值）。

关键词：精密增材制造微立体光固化纳米定位分布柔度簧片