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Application of Simple Adaptive Control to Water Hydraulic servo cylinder system

Chinese Journal of Mechanical Engineering 2012年第5期25卷 882-888页

作者： ITO Kazuhisa YAMADA Tsuyoshi IKEO Shigeru TAKAHASHI Koji College of systems Engineering and Science Shibaura Institute of Technology Saitama 3378570 Japan Graduate School of Mechanical Engineering Tottori UniversityTottori 6808552 Japan Department of Mechanical Engineering Sophia UniversityTokyo 1028554 Japan

Although conventional model reference adaptive control （MRAC） achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control （SAC） for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC （within 10 μm of the reference position） and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems.

关键词： water hydraulics servo cylinder system positioning control simple adaptive control

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Application of simple adaptive control to water hydraulic servo cylinder system

引用

材料与冶金学报 2010年第4期9卷 300-303页

作者： Tsuyoshi YAMADA Kazuhisa ITO Shigeru IKEO Masaharu NISHIMURA Graduate School of Engineering Tottori University 4 - 101 Minami Koyama - cho Tottori Japan Department of Machinery ＆ Control systems College of systems Engineering and Science Shibaura Institute of Technology 307 Fukasaku Saitama Japan Department of Mechanical Engineering Sophia University 7 - 1 Kioicho Chiyodaku Tokyo Japan

In this research, the positioning control of water hydraulic servo cylinder system with the simple adaptive control (SAC) is discussed. Conventional model reference adaptive control (MRAC) also achieves good tracking performance for cylinder control, but the controller structure was much complicated and was not easy to be realized in application. Compared with MRAC, SAC has simpler and lower order structure, i.e., has higher feasibility. But only few papers concerning with the application of the control performance of SAC to hydraulics and pneumatics are available, especially for water hydraulics. In this paper, we will examine and evaluate the control performance of the SAC strategy and it is confirmed that SAC gives better tracking performance compared with PI control.

关键词： water hydraulics servo cylinder system position control simple adaptive control

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