Flatness based control with adaptive load torque compensation for position tracking of electro hydraulic actuators

Wonhee Kim, Donghoon Shin, Choo Chung Chung, Daehee Won

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a flatness based control with adaptive load torque compensation is proposed for position tracking of electro hydraulic actuators (EHAs). The proposed method is implemented on a rotational joint driven by a linear type EHA. The proposed method consists of a position tracking controller and a load torque estimator. The position tracking controller is designed to track the desired position and load pressure as a near Input-output linearizing inner-loop load pressure controller and a feedback plus feedforward outer-loop position controller. The desired load pressure is designed using differential flatness property of the EHA mechanical subsystem. The load torque estimator is designed to estimate the unknown amplitude of the sinusoidal load torque. Then the load torque is compensated by a feedforward-loop. The performance of the proposed method is validated via simulations.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages2101-2106
Number of pages6
DOIs
Publication statusPublished - 2011 Nov 17
Event2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China
Duration: 2011 Aug 72011 Aug 10

Other

Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
CountryChina
CityBeijing
Period11/08/711/08/10

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Keywords

  • Adaptive control
  • Electro hydraulic actuator
  • Position tracking

Cite this

Kim, W., Shin, D., Chung, C. C., & Won, D. (2011). Flatness based control with adaptive load torque compensation for position tracking of electro hydraulic actuators. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 2101-2106). [5986305] https://doi.org/10.1109/ICMA.2011.5986305