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Adaptive semi-parallel position/force-sensorless control of electro-hydraulic actuator system using MR fluid damper

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Abstract

The focus of this paper is to develop a semi-parallel control method using an inversion of identification model of a magnetorheological (MR) fluid damper along with a smart predictor controller (SPC) for a damping system using that damper and an electrohydraulic actuator (EHA) in order to realize the real time position/force control of the industrial task requiring interaction with the environment. The inverse model of MR fluid damper is established base on a self-tuning Lyapunov-based fuzzy (STLF) model. This STLF model is designed in the form of a center average fuzzy interference system, of which the fuzzy rules are planted based on the Lyapunov stability condition. In addition, in order to optimize the STLF model, the back propagation learning rules are used to adjust the fuzzy weighting net. Meanwhile, the SPC is constructed using a nonlinear PID controller (NPID) base on feedforward neural network and a smart Grey-Markov predictor (SGMP). Here, the NPID controller is built to drive the system to desired targets. Additionally, a learning mechanism with robust checking conditions is implemented into the NPID in order to optimize online its parameters with respect to the control error minimization. Besides, the SGMP with self-tuning ability of the predictor step size takes part in, first, estimating the system.

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Abbreviations

u(t):

control signal

u NPID (t):

nonlinear PID output

G PID :

PID transfer function

L(s):

open-loop transfer function

S(s):

sensitivity function

M :

gain margin

M D :

upper bound of the sensitivity

Y g :

sigmoid function’s shape factor

E(t):

error

η p , η i , η d :

learning rates

ŷ(t+p):

system response in a near future

y(0):

output data point

z (1) :

consecutive neighbor generation

p :

Grey predictor step size

P (k) ij :

transition probability

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Authors and Affiliations

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

    Dao Thanh Liem

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

    Kyoung Kwan Ahn

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Correspondence to Kyoung Kwan Ahn.

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Liem, D.T., Ahn, K.K. Adaptive semi-parallel position/force-sensorless control of electro-hydraulic actuator system using MR fluid damper. Int. J. Precis. Eng. Manuf. 17, 1451–1463 (2016). https://doi.org/10.1007/s12541-016-0171-0

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  • DOI: https://doi.org/10.1007/s12541-016-0171-0

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