Fractional order adaptive control for hydraulic differential cylinders

J. Tar, Attila L. Bencsik

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Hydraulic servo valve controlled differential cylinders are non-linear, strongly coupled multivariable electromechanical tools applicable for driving e.g. manipulators. Traditional PID control of such equipment have to cope with the problem of instabilities due to the friction forces between the piston and the cylinder, and the uncertainties and variation of its hydrodynamic parameters that in general makes it unrealistic to develop an accurate model for them. Bröcker and Lemmen proposed two different control approaches for such systems, based on the disturbance rejection, and on the partial flatness principles, respectively. In each case it is necessary to measure the external disturbance force and its time-derivative as well as to know the exact model of the hydraulic cylinder. Later on Tar et al. proposed an alternative adaptive approach that does not require to measure the disturbance force and to know the exact parameters of the cylinder. This method rejected to use time-derivatives because of the presence of friction, and, as a consequence it resulted in a very hectic transient phase of learning. In this paper an alternative approach is presented that combines this approach with the use of calculated time-derivatives that are "rejected" by adaptively varying the order of the derivations applied. In this way the harsh initial transients can be evaded. The operation of the method is presented by simulations.

Original languageEnglish
Title of host publicationICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics - Proceedings
Pages225-229
Number of pages5
Volume2005
DOIs
Publication statusPublished - 2005
EventICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics - Mauritius, Mauritius
Duration: Apr 13 2005Apr 16 2005

Other

OtherICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics
CountryMauritius
CityMauritius
Period4/13/054/16/05

Fingerprint

Hydraulics
Derivatives
Friction
Disturbance rejection
Three term control systems
Pistons
Manipulators
Hydrodynamics
Uncertainty

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Tar, J., & Bencsik, A. L. (2005). Fractional order adaptive control for hydraulic differential cylinders. In ICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics - Proceedings (Vol. 2005, pp. 225-229). [1511577] https://doi.org/10.1109/ICCCYB.2005.1511577

Fractional order adaptive control for hydraulic differential cylinders. / Tar, J.; Bencsik, Attila L.

ICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics - Proceedings. Vol. 2005 2005. p. 225-229 1511577.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J & Bencsik, AL 2005, Fractional order adaptive control for hydraulic differential cylinders. in ICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics - Proceedings. vol. 2005, 1511577, pp. 225-229, ICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics, Mauritius, Mauritius, 4/13/05. https://doi.org/10.1109/ICCCYB.2005.1511577
Tar J, Bencsik AL. Fractional order adaptive control for hydraulic differential cylinders. In ICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics - Proceedings. Vol. 2005. 2005. p. 225-229. 1511577 https://doi.org/10.1109/ICCCYB.2005.1511577
Tar, J. ; Bencsik, Attila L. / Fractional order adaptive control for hydraulic differential cylinders. ICCC 2005 - IEEE 3rd International Conference on Computational Cybernetics - Proceedings. Vol. 2005 2005. pp. 225-229
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