反馈线性化控制一台转动液压传动外文文献翻译中英文翻译外文翻译.docx
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反馈线性化控制一台转动液压传动外文文献翻译中英文翻译外文翻译.docx
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反馈线性化控制一台转动液压传动外文文献翻译中英文翻译外文翻译
外文原文:
Feedbacklinearizationbasedcontrolofarotationalhydraulicdrive
ControlEngineeringPractice, Volume15,Issue12, December2007,Pages1495-1507
JahoSeo,RavinderVenugopalandJean-PierreKenné
AbstractThetechniqueoffeedbacklinearizationisusedtodesigncontrollersfordisplacement,velocityanddifferentialpressurecontrolofarotationalhydraulicdrive.Thecontrollers,whichtakeintoaccountthesquare-rootnonlinearityinthesystem'sdynamics,areimplementedonanexperimentaltestbenchandresultsofperformanceevaluationtestsarepresented.Theobjectiveofthisresearchistwofold:
firstly,topresentaunifiedmethodfortrackingcontrolofdisplacement,velocityanddifferentialpressure;andsecondly,toexperimentallyaddresstheissueofwhetherthesystemcanbemodeledwithsufficientaccuracytoeffectivelycanceloutthenonlinearitiesinareal-worldsystem.
Keywords:
Nonlinearcontrol;Feedbacklinearization;Hydraulicactuators;Real-timesystems
1.Introduction
Electro-hydraulichydraulicservo-systems(EHSS)areextensivelyusedinseveralindustriesforapplicationsrangingfromhydraulicstampingandinjectionmoldingpressestoaerospaceflight-controlactuators.EHSSserveasveryefficientdrivesystemsbecausetheypossesahighpower/massratio,fastresponse,highstiffnessandhighloadcapability.Tomaximizetheadvantagesofhydraulicsystemsandtomeetincreasinglyexactingperformancespecificationsintermsofrobusttrackingwithhighaccuracyandfastresponse,highperformanceservo-controllersarerequired.However,traditionallinearcontrollers([Anderson,1988]and[Merritt,1967])haveperformancelimitationsduetothepresenceofnonlineardynamicsinEHSS,specifically,asquare-rootrelationshipbetweenthedifferentialpressurethatdrivestheflowofthehydraulicfluid,andtheflowrate.Theselimitationshavebeenwelldocumentedintheliterature;seeGhazy(2001),SunandChiu(1999),forexample.
Severalapproacheshavebeenproposedtoaddresstheselimitations,includingtheuseofvariablestructurecontrol(Ghazy,2001;Mihajlov,Nikolic,&Antic,2002),back-stepping(Jovanovic,2002;[Kaddissietal.,2005]and[Kaddissietal.,2007];Ursu&Popescu,2002)andfeedbacklinearization([Chiribogaetal.,1995]and[Jovanovic,2002]).Variablestructurecontrolinitsbasicformispronetochattering(Guglielmino&Edge,2004)sincethecontrolalgorithmisbasedonswitching;however,severalmodificationshavebeenproposedtoaddressthisproblem([Ghazy,2001],[GuglielminoandEdge,2004]and[Mihajlovetal.,2002]).Back-steppingisatechniquethatisbasedonLyapunovtheoryandguaranteesasymptotictracking([Jovanovic,2002],[Kaddissietal.,2005],[Kaddissietal.,2007]and[UrsuandPopescu,2002]),butfindinganappropriatecandidateLyapunovfunctioncanbechallenging.Thecontrollersobtainedusingthismethodaretypicallycomplicatedandtuningcontrolparametersfortransientresponseisnon-intuitive.OtherLyapunovbasedtechniquesaddressadditionalsystemnonlinearitiessuchasfriction,butarealsopronetothesamedrawbacksasthoselistedforback-stepping(Liu&Alleyne,1999).Feedbacklinearization,inwhichthenonlinearsystemistransformedintoanequivalentlinearsystembyeffectivelycancelingoutthenonlineartermsintheclosed-loop,providesawayofaddressingthenonlinearitiesinthesystemwhileallowingonetousethepoweroflinearcontroldesigntechniquestoaddresstransientresponserequirementsandactuatorlimitations.TheuseoffeedbacklinearizationforcontrolofEHSShasbeendescribedinChiribogaetal.(1995)andJovanovic(2002).InBröckerandLemmen(2001)disturbancerejectionfortrackingcontrolofahydraulicflexiblerobotisconsidered,usingadecouplingtechniquesimilartothefeedbacklinearizationapproachproposedherein.However,thisapproachrequiresmeasurementsofthedisturbanceforcesandtheirtimederivatives,whichareunlikelytobereadilyavailableinapracticalapplication.Incontrasttotheabovementionedtechniques,whichareallfull-statefeedbackbasedapproaches,SunandChiu(1999)describethedesignofanobserver-basedalgorithmspecificallyforforcecontrolofanEHSS.AnadaptivecontrollerwhichusesaniterativeapproachtoupdatecontrolparametersandaddressesfrictionaleffectswithminimalplantanddisturbanceknowledgeisproposedinTar,Rudas,Szeghegyi,andKozlowski(2005)basedonthemodeldescribedinBröckerandLemmen(2001).
Mostoftheliteratureonthesubjectshowssimulationresults;notableexceptionswithactualexperimentalresultsareLiuandAlleyne(1999),NiksefatandSepehri(1999),SugiyamaandUchida(2004),andSunandChiu(1999).Thefocusofthisstudyisonpresentingacontrollerdesignapproachthatiscomprehensive,thatis,onethatcoversdisplacement,velocityanddifferentialpressurecontrol,addressesthenonlinearitiespresentinEHSSandconsiderspracticalissuessuchastransientresponseandreal-timeimplementation.Thus,asignificantportionofthepaperisdedicatedtotheexperimentalaspectsofthestudy.Inaddition,thispaperisintendedtoserveasaclearguideforthedevelopmentandimplementationoffeedbacklinearizationbasedcontrollersforEHSS.
Thepaperisorganizedasfollows:
Section2describestherotationalhydraulicdrivethatisusedasanexperimentaltestbench.Inthissection,themathematicalmodelofthesystemisalsoreviewedandvalidatedusingexperimentaldata.Section3describesthedesignofPIDcontrollersforthissystemwithsimulationandexperimentalresultsthatserveasabaselineforevaluatingtheperformanceofthefeedbacklinearizationcontrollers;Section4describesthedesignandimplementationofthefeedbacklinearizationcontrollersandfinally,concludingremarksareprovidedinSection5.
2.Modeling
Systemdescription
Theelectro-hydraulicsystemforthisstudyisarotationalhydraulicdriveattheLITP(Laboratoired’intégrationdestechnologiesdeproduction)oftheUniversityofQuébecÉcoledetechnologiesupérieure(ÉTS).Theset-upisgenericandallowsforsimpleextensionoftheresultsherewithtootherelectro-hydraulicsystems,forexample,double-actingcylinders.
ReferringtothefunctionaldiagraminFig.1,aDCelectricmotordrivesapump,whichdeliversoilataconstantsupplypressurefromtheoiltanktoeachcomponentofthesystem.Theoilisusedfortheoperationofthehydraulicactuatorandisreturnedthroughtheservo-valvetotheoiltankatatmosphericpressure.Anaccumulatorandareliefvalveareusedtomaintainaconstantsupplypressurefromtheoutputofthepump.Theelectro-hydraulicsystemincludestwoMoogSeries73servo-valveswhichcontrolthemovementoftherotaryactuatorandtheloadtorqueofthesystem.Theseservo-valvesareoperatedbyvoltagesignalsgeneratedbyanOpal-RTreal-timedigitalcontrolsystem.
Fig. 1. Functionaldiagramofelectro-hydraulicsystem.
Theactuatorandloadarebothhydraulicmotorsconnectedbyacommonshaft.Oneservo-valveregulatestheflowofhydraulicfluidtotheactuatorandtheotherregulatestheflowtotheload.Theactuatoroperatesinaclosed-loopwhiletheloadoperatesopen-loop,withtheloadtorquebeingproportionaltothecommandvoltagetotheloadservo-valve.Whiletheactuatorandloadchosenforthisstudyarerotarydrives,theexactsameset-upcouldbeusedwithalinearactuatorandload,andthus,theyarerepresentedasgenericcomponentsinFig.1.Thetestset-upincludesthreesensors,twoNoshokSeries200pressuresensorswitha0–10 Voutputcorrespondingtoarangeof20.7 MPa(3000PSI)thatmeasurethepressureinthetwochambersoftherotationaldrive,aswellasatachometertomeasuretheangularvelocityofthedrive.Inordertoreducethenumberofsensorsused(acommonpreferenceforcommercialapplication),angulardisplacementisobtainedbynumericallyintegratingtheangularvelocitymeasurement.
Fig.2showsthelayoutofthesystemandtheOpal-RTRT-LABdigitalcontrolsystem.
Fig. 2. LayoutofLITPtestbench.
TheRT-LABsystemconsistsofareal-timetargetandahostPC.Thereal-timetargetrunsadedicatedcommercialreal-timeoperatingsystem(QNX),readssensorsignalsusingananalog-to-digital(A/D)conversionboardandgeneratesoutputvoltagesignalsfortheservo-valvesusingadigital-to-analog(D/A)conversionboard.ThehostPCisusedtogeneratecodeforthetargetusingMATLAB/SimulinkandOpal-RT'sRT-LABsoftwareandalsotomonitorthesystem.Controllerparameterscanalsobeadjustedon-the-flyfromthehostinRT-LAB.
3.Conclusions
Thegoalofthisresearchistoreviewthenonlineardynamicsofarotationalhydraulicdrive,studyhowthesedynamicsleadtolimitationsinPIDcontrollerperformance,andtodesignandimplementservo-controllersappropriatefordisplacement,velocityandpressurecontrol.Feedbacklinearizationtheoryisintroducedasanonlinearcontroltechniquetoaccomplishthisgoalinthisstudy,andthecontrollersdesignedusingthismethodarevalidatedusingexperimentaltests.
Fromthesetests,itcanbeseenthatforhydraulicsystemsthathavenonlinearcharacteristics,feedbacklinearizationtheoryprovidesapowerfulcontrolstrategythatclearlyimprovesonPIDcontrolintermsoftrackingprecisionandtransientresponse.Theresultsshowthatthesystemcanbemodeledwithsufficientaccuracytoeffectivelyimplementthecontrollers.
Thisstudyislimitedtothecontrolofarotationalhydraulicdrive.Theapplicationoffeedbacklinearizationtheorytothecontrolofmorecomplexintegratedrotationalandlineardrives,aswel
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