Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Position control of an Electro-Hydrostatic Rotary Actuator using adaptive PID control

EHRA의 위치제어를 위한 적응 PID 제어기 설계

  • Received : 2017.11.07
  • Accepted : 2017.11.27
  • Published : 2017.12.01
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Abstract

This paper introduces a control algorithm for trajectory control of an electro-hydrostatic rotary actuator. A key feature of this paper is that an adaptive PID based on sliding mode is used to control the nonlinearity and uncertainty factor of single input/output system. Accurate knowledge of rotary actuator angle can result in high-performance and efficiency of electro hydraulic system. First, the position control is formulated using the adaptive PID with sliding mode technique and uncertainties in the hydraulic system. Second, the controller can update the PID gains on-line based on error caused by external disturbance and uncertain factors in the system. Finally, three experimental cases were studied to evaluate the proposed control method.

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References

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