Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque
We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a sinusoidal disturbance, whose magnitude can be es...
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| Format: | Article |
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MDPI AG
2020-09-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/8/9/1484 |
| _version_ | 1797554767391621120 |
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| author | Sangmin Suh Wonhee Kim |
| author_facet | Sangmin Suh Wonhee Kim |
| author_sort | Sangmin Suh |
| collection | DOAJ |
| description | We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a sinusoidal disturbance, whose magnitude can be estimated via a load torque observer. In the proposed load torque observer, the load torque can be estimated without requiring its maximum frequency to be known. The position controller tracks position and comprises an inner-loop load pressure controller and an outer-loop position controller. The former tracks the desired pressure via near input–output linearization. The desired pressure is developed using the differential flatness of the mechanical system in the EHA. The feedback plus feedforward outer-loop position controller is designed to track the desired position and to compensate for the load torque. The stability of the closed-loop system is mathematically proven using the input-to-state stability property. |
| first_indexed | 2024-03-10T16:36:43Z |
| format | Article |
| id | doaj.art-4feb32f962164ca3adef005c79bc5f71 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T16:36:43Z |
| publishDate | 2020-09-01 |
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| series | Mathematics |
| spelling | doaj.art-4feb32f962164ca3adef005c79bc5f712023-11-20T12:19:47ZengMDPI AGMathematics2227-73902020-09-0189148410.3390/math8091484Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load TorqueSangmin Suh0Wonhee Kim1Department of Information and Telecommunication Engineering, Gangneung-Wonju National University, Wonju-si 26403, KoreaSchool of Energy Systems Engineering, Chung-Ang University, Seoul 06974, KoreaWe propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a sinusoidal disturbance, whose magnitude can be estimated via a load torque observer. In the proposed load torque observer, the load torque can be estimated without requiring its maximum frequency to be known. The position controller tracks position and comprises an inner-loop load pressure controller and an outer-loop position controller. The former tracks the desired pressure via near input–output linearization. The desired pressure is developed using the differential flatness of the mechanical system in the EHA. The feedback plus feedforward outer-loop position controller is designed to track the desired position and to compensate for the load torque. The stability of the closed-loop system is mathematically proven using the input-to-state stability property.https://www.mdpi.com/2227-7390/8/9/1484electro hydraulic actuatorload torque observerposition tracking |
| spellingShingle | Sangmin Suh Wonhee Kim Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque Mathematics electro hydraulic actuator load torque observer position tracking |
| title | Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque |
| title_full | Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque |
| title_fullStr | Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque |
| title_full_unstemmed | Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque |
| title_short | Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque |
| title_sort | nonlinear position control using differential flatness concept with load torque observer for electro hydraulic actuators with sinusoidal load torque |
| topic | electro hydraulic actuator load torque observer position tracking |
| url | https://www.mdpi.com/2227-7390/8/9/1484 |
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