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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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A Backstepping simple adaptive control Application to Flexible Space Structures

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Chinese Journal of Aeronautics 2012年第3期25卷 446-452页

作者： LIU Min XU Shijie HAN Chao School of Astronautics Beihang UniversityBeijing 100191China

Although the simple adaptive control （SAC） is widely studied both in theory and application in flexible space structure control and other control problems, it is restricted by the almost strictly positive real （ASPR） conditions. In most practical control problems, the ASPR conditions are not satisfied. Therefore, based on the SAC theory, this paper proposes a backstepping simple adaptive control algorithm which suits the system with arbitrary relative degree with no need of parallel feed forward compensa- tor. The proposed control algorithm consists of decomposition of the arbitrary relative degree system into a known subsystem and an unknown ASPR subsystem which are connected in cascade, design of constant output feedback controller for the known subsystem, and implementation of backstepping method and SAC of the unknown ASPR subsystem. Inheriting the characteristics of the SAC, this method can be adaptive online for the parameter uncertainties. Then, the application of the proposed controller to large flexible space structure with collocated sensors and actuators is studied, and the simulation results validate the proposed controller. It is a new strategy to apply the classical SAC to high relative degree plants.

关键词： simple adaptive control almost strictly positive real backstepping flexible structure intermediate control law

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Application of simple adaptive control to water hydraulic servo cylinder system

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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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SAC(simple adaptive control)结晶器液面控制技术

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钢铁 2001年第3期 33-33页

作者：隆国

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simple adaptive Delta Operator Aircraft Flight control for Accommodation of Loss of control Effectiveness

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Engineering（科研） 2016年第4期8卷 173-195页

作者： Alfredo Cano Kenneth Sobel Department of Electrical Engineering The City College of New York New York NY USA

A new proof for stability of delta operator simple adaptive control is presented in terms of a set of Linear Matrix Inequalities (LMIs). The paper shows how to design a feedforward gain to satisfy the LMIs over a polytope of loss of control effectiveness failures. The MATLAB Robust control Toolbox is used to find the feedforward gain with the smallest norm that satisfies the LMIs. Examples are presented of the F/A-18 aircraft and the Innovative control Effectors (ICE) tailless aircraft that show the design of a feedforward gain for a loss of control effectiveness in any one control effector. The designs use a fixed eigenstructure assignment controller for an inner loop augmented with the simple adaptive controller. Simulations of both aircraft include simultaneous loss of control effectiveness failure and lateral wind gust. Simulation results for the F/A-18 aircraft show that the adaptive controller achieves almost perfect tracking whereas the nonadaptive controller cannot achieve a coordinated turn when an aileron failure occurs. The ICE tailless aircraft uses sideslip, washed-out stability axis yaw rate, and stability axis roll rate feedback for both the inner loop eigenstructure assignment controller and the simple adaptive controller. However, the adaptive controller also uses bank angle feedback. Simulation results for the ICE tailless aircraft show that the adaptive controller achieves almost perfect tracking whereas the nonadaptive controller diverges when an all moving tip failure occurs.

关键词： simple adaptive control Delta Domain Parallel Feedforward Aircraft control Failure

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