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Modeling and fault tolerant control of an electro-hydraulic actuator

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Abstract

In the modern industry, electro-hydraulic actuators (EHAs) have been applied to various applications for precise position pressure/ force control tasks. However, operating EHAs under sensor faults is one of the critical challenges for the control engineers. For its enormous nonlinear characteristics, sensor fault could lead the catastrophic failure to the overall system or even put human life in danger. Thus in this paper, a study on mathematical modeling and fault tolerant control (FTC) of a typical EHA for tracking control under sensor-fault conditions has been carried out. In the proposed FTC system, the extended Kalman-Bucy unknown input observer (EKBUIO) -based robust sensor fault detection and identification (FDI) module estimates the system states and the time domain fault information. Once a fault is detected, the controller feedback is switched from the faulty sensor to the estimated output from the EKBUIO owing to mask the sensor fault swiftly and retains the system stability. Additionally, considering the tracking accuracy of the EHA system, an efficient brain emotional learning based intelligent controller (BELBIC) is suggested as the main control unit. Effectiveness of the proposed FTC architecture has been investigated by experimenting on a test bed using an EHA in sensor failure conditions.

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Abbreviations

A h :

head side piston area

A r :

rod side piston area

A v :

valve opening area

C v :

valve discharge coefficient

D :

pump displacement

d s k :

position sensor fault information of EHA

E max :

the bulk modulus of the hydraulic fluid

frc :

friction force between cylinder wall and piston

F load :

applied load on the cylinder

l :

cylinder length

m :

piston mass

N :

pump rotation per minute (RPM)

P 1 :

pump pressure

P h :

head side pressure

P r :

rod side pressure

P rel :

relief valve settling pressure

ρ :

hydraulic fluid density

Q pump :

pump flow rate

V c :

control voltage of the servo motor

x p :

cylinder piston position

Q 1 :

inlet flow rate to the cylinder

Q 2 :

outlet flow rate from the cylinder

Q rel :

flow rate through relief valve

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Author information

Authors and Affiliations

  1. Graduate Student, School of Mechanical Engineering, University of Ulsan, Daehak-ro 93, Nam-gu, Ulsan, 44610, South Korea

    Syed Abu Nahian, Puja Chowdhury & Debdatta Das

  2. International Digital Laboratory, University of Warwick, Coventry, United Kingdom

    Dinh Quang Truong

  3. School of Mechanical Engineering, University of Ulsan, Daehak-ro 93, Nam-gu, Ulsan, 44610, South Korea

    Kyoung Kwan Ahn

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  1. Syed Abu Nahian
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Correspondence to Kyoung Kwan Ahn.

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Nahian, S.A., Truong, D.Q., Chowdhury, P. et al. Modeling and fault tolerant control of an electro-hydraulic actuator. Int. J. Precis. Eng. Manuf. 17, 1285–1297 (2016). https://doi.org/10.1007/s12541-016-0153-2

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  • DOI: https://doi.org/10.1007/s12541-016-0153-2

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