hal-03634748
https://hal.science/hal-03634748
https://hal.science/hal-03634748/document
https://hal.science/hal-03634748/file/vaezi_IFK2020.pdf
doi:10.25368/2020.30
[CNRS] CNRS - Centre national de la recherche scientifique
[UNIV-LYON1] Université Claude Bernard - Lyon I
[INSA-LYON] Institut National des Sciences Appliquées de Lyon
[EC-LYON] Ecole Centrale de Lyon
[AMPERE] Ampère
[INSMI] CNRS-INSMI - INstitut des Sciences Mathématiques et de leurs Interactions
[TDS-MACS] Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes
[INSA-GROUPE] Groupe INSA
[UDL] UDL
[UNIV-LYON] Université de Lyon
[INRAE] Institut National de Recherche en Agriculture, Alimentation et Environnement
Nonlinear force tracking control of electrohydrostatic actuators submitted to motion disturbances
Vaezi, Tahereh
Smaoui, Mohamed
Massioni, Paolo
Brun, Xavier
Bideaux, Eric
[SPI.AUTO] Engineering Sciences [physics]/Automatic
[INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY]
[MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC]
COMM
electro hydrostatic actuator
force control
Linear parameter variant
In some industrial fields, such as aerospace, electro-hydrostatic actuators (EHAs) are increasingly used to replace conventional standard hydraulic actuators due to their better energy performance. Moreover, implementing different type or technology of actuators in redundant actuation systems working on the same moving part introduced some new challenges. This paper presents a force-tracking controller for an asymmetric electro-hydrostatic actuator that is submitted to an external motion generated by an external source. In this case, the rod displacement is considered as an external disturbance for the hydraulic cylinder, but it is assumed that this disturbance can be easily measured using sensors. The theoretical motivation of this work is discussed along and a variable gain state feedback control based on Linear Parameter Varying control (LPV) theory is proposed to achieve stability, disturbance rejection and tracking performance. The Linear Matrix Inequalities (LMI) framework is used to determine a control law including an augmented state feedback with an integral action that reduces trajectory-tracking errors. Simulation results of the control law are finally given to verify the global performance of this control design.
2020-10-12
2023-03-29
en
Proceedings of the 12th International Fluid Power Conference
Technische Universität Dresden
12th International Fluid Power Conference (IFK 2020)
Dresde, Germany