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http://dx.doi.org/10.7746/jkros.2016.11.2.092

Adaptive Position Controller Design of Electro-hydraulic Actuator Using Approximate Model Inversion  

Lee, Kyeong Ha (Mechanical Engineering, Sungkyunkwan University)
Baek, Seung Guk (Mechanical Engineering, Sungkyunkwan University)
Koo, Ja Choon (Mechanical Engineering, Sungkyunkwan University)
Publication Information
The Journal of Korea Robotics Society / v.11, no.2, 2016 , pp. 92-99 More about this Journal
Abstract
An electro-hydraulic actuator (EHA) is widely used in industrial motion systems and the increasing bandwidth of EHA position control is important issue. The model-inverse feedforward controller is known to extend the bandwidth of system. When the system has non-minimum phase (NMP) zeros, direct model inversion makes system unstable. To overcome this problem, an approximate model-inverse method is used. A representative approximate model inversion method is zero phase error tracking control (ZPETC). However, if zeros locate right half plane of z-plane, the approximate inverse model amplifies the high-frequency response. In this paper, to solve the problem of ZPETC, an adaptive model-inverse control is proposed. The adaptive algorithm updates feedforward term in real-time. The effectiveness of the proposed adaptive model-inverse position control strategy is verified by comparison with typical proportional-integral (PI) control and feedforward control by experiments. As a result, the proposed adaptive controller extends the bandwidth of EHA position control.
Keywords
Electro-hydraulic Actuator; Adaptive Control; Approximate Model Inversion; ZPETC;
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Times Cited By KSCI : 1  (Citation Analysis)
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