Robust Position Tracking for Electro-Hydraulic Drives Based on Generalized Feedforward Compensation Approach

Lasse Schmidt; Torben O. Andersen; Henrik C. Pedersen; Michael M. Bech

doi:10.4028/www.scientific.net/AMM.233.100

Paper Titles

Shear Transmission of Magnetorheological Fluid in Fan Clutch
p.84

Design and Analysis of Nut Crimping Machines
p.88

The Research and Design about Hydraulic Shears of Medium Plate Milling
p.92

Analysis of Internal Flow Field for Centrifugal Fan in Series
p.96

Robust Position Tracking for Electro-Hydraulic Drives Based on Generalized Feedforward Compensation Approach
p.100

The Design of the Pilot Type Zero Steady-State Error of Water Hydraulic Overflow Valve
p.104

Sliding Mode Control Applied to Aerodynamic Servo System
p.109

Simulation and Analysis on the Molding Pressure Roller of Lead Flake Based on AMESim and ADAMS
p.114

The Principle of a Novel Load Sensing Hydraulic System and Design of the Electronic Control System
p.119

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 233Robust Position Tracking for Electro-Hydraulic...

Robust Position Tracking for Electro-Hydraulic Drives Based on Generalized Feedforward Compensation Approach

Abstract:

This paper presents the development of a robust tracking control concept based on accurate feedforward compensation of hydraulic valve-cylinder drives. The proposed feedforward gain is obtained by use of a generalized description of the valve flow that takes into account any asymmetry of valves and/or cylinders, not assuming these asymmetries to be matched, and utilizes pressure measurements. Hence the proposed compensator is generally applicable to any such drive. Simulations show that the proposed compensator poses superior performance and robustness when subjected to strong perturbations in supply pressure and coulomb friction, compared with a conventional constant gain type feedforward compensator.