Title :
Motion synchronization for multi-cylinder electro-hydraulic system
Author :
Sun, Hong ; Chiu, George T C
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
This paper presents a nonlinear control algorithm to address the motion synchronization problem for a 2-cylinder electrohydraulic (EH) system. A 2-step design approach is applied such that it utilized linear MIMO robust control technique to design an outer loop motion synchronization controller. A nonlinear SISO perturbation observer based pressure/force controller is designed for each of the lift cylinder as the inner loop controller to handle the nonlinearities associated with the EH actuators. Experimental results on a 2-cylinder system are presented to verify the effectiveness of the proposed approach
Keywords :
MIMO systems; actuators; control system synthesis; electrohydraulic control equipment; force control; multivariable control systems; nonlinear control systems; observers; pressure control; robust control; synchronisation; 2-cylinder electrohydraulic system; 2-step design approach; EH actuators; inner loop controller; lift cylinder; linear MIMO robust control technique; motion synchronization; multicylinder electrohydraulic system; nonlinear SISO perturbation observer; nonlinear control algorithm; outer loop motion synchronization controller design; pressure/force controller; Actuators; Control nonlinearities; Control systems; Electrohydraulics; Force control; MIMO; Motion control; Nonlinear control systems; Pressure control; Robust control;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936541
