A Dual-Fuzzy Pressure Compensation Based Symmetric Control Scheme of Single-Rod Electro-Hydraulic Actuator

Li Peng Wang; Jun Zheng Wang; Yu Dong He; Jiang Bo Zhao

doi:10.4028/www.scientific.net/AMR.816-817.379

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 816-817A Dual-Fuzzy Pressure Compensation Based Symmetric...

A Dual-Fuzzy Pressure Compensation Based Symmetric Control Scheme of Single-Rod Electro-Hydraulic Actuator

Abstract:

In hydraulic robots, single-rod electro-hydraulic actuator is widely employed for fast response, small size-to-power ratio, large output force and compact size. The differences of open loop gains and other parameters make the dynamic characteristics of two moving directions asymmetric in symmetric valve controlled asymmetric cylinder system. To ensure robots moving smoothly and improve control precision, a novel pressure compensation based symmetric control scheme is proposed. Pressure feedback algorithm is mathematically proved feasible. Therefore, a displacement and pressure signals fused fuzzy PID controller is designed. Simulation results verify the feasibility and validity for compensating the asymmetric problems.

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Periodical:

Advanced Materials Research (Volumes 816-817)

Pages:

379-384

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.816-817.379

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Online since:

September 2013

Authors:

Li Peng Wang, Jun Zheng Wang, Yu Dong He, Jiang Bo Zhao

Keywords:

Electro-Hydraulic System, Pressure Compensation, Single-Rod Cylinder, Symmetric Control

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References

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