Actuators

Research

26 pages, 10651 KiB

Open AccessArticle

Research on Speed Control Strategies for Explosion-Proof Diesel Engine Monorail Cranes

by Hai Jiang, Dongjie Wang, Jiameng Cheng, Penghui Li, Xiaodong Ji, Yang Shen and Miao Wu

Actuators 2024, 13(12), 467; https://doi.org/10.3390/act13120467 - 21 Nov 2024

Viewed by 223

This paper introduces a control method tailored for the speed regulation of monorail cranes in coal mines. Initially, an analysis of the structure and load conditions of the monorail crane drive components is conducted to calculate the traction force, clamping force, and target [...] Read more.

This paper introduces a control method tailored for the speed regulation of monorail cranes in coal mines. Initially, an analysis of the structure and load conditions of the monorail crane drive components is conducted to calculate the traction force, clamping force, and target travel speed across varying operational scenarios. Subsequently, the hydraulic system schematic of the monorail crane is analyzed to develop a mathematical model for speed control, enabling the assessment of system stability using transfer functions. A simulation model of the monorail crane speed control loop is then created in AMESim, where fuzzy adaptive PID controllers and MPC controllers are optimized in a collaborative simulation with Simulink. Experimental findings reveal that in a single acceleration condition, both controllers demonstrate superior dynamic response compared to a traditional PID controller, with the MPC controller exhibiting an overshoot of merely 8.9%. In speed variation conditions, the MPC controller achieved a settling time in the range of 0.26–0.3 s. Notably, the MPC controller displays a maximum overshoot of 11%, substantially enhancing the dynamic response performance of speed regulation in monorail cranes. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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18 pages, 9753 KiB

Open AccessArticle

Research on Vibration Reduction Characteristics of High-Speed Elevator with Rolling Guide Shoes Based on Hydraulic Damping Actuator

by Dongming Hu, Qibing Wang and Jianming Zhan

Actuators 2024, 13(9), 356; https://doi.org/10.3390/act13090356 - 12 Sep 2024

Viewed by 678

Abstract

This paper endeavors to tackle the issue of horizontal vibrations encountered in high-speed and ultra-high-speed elevator cabins during operation. Given the limitations of traditional passive-control guide shoes in effectively mitigating these vibrations and the complexity and cost associated with active control systems, a [...] Read more.

This paper endeavors to tackle the issue of horizontal vibrations encountered in high-speed and ultra-high-speed elevator cabins during operation. Given the limitations of traditional passive-control guide shoes in effectively mitigating these vibrations and the complexity and cost associated with active control systems, a novel approach involving passive-control rolling guide shoes (PCRGS) integrated with hydraulic damping is explored. The PCRGS incorporates a hydraulic actuator and hydraulic damping, which can be modeled by a mechanical and hydraulic co-simulation model using AMESim2020 software. The simulation reveals a substantial reduction in cabin vibrations equipped with PCRGS. Specifically, under pulse excitation, the reduction ranges from 26.2% to 27.5%; under white noise excitation, it varies between 14.3% and 17.1%; and under sine wave excitation, the reduction spans 21.2% to 24.1%. Notably, the system meets the stringent ‘Excellent’ (<=0.07 m/s²) performance criteria under sine wave excitation at lower frequencies, signifying its high effectiveness. These findings not only underscore the potential of hydraulic passive-control guide shoes in mitigating elevator vibrations but also provide invaluable guidance for their further development and refinement. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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18 pages, 5783 KiB

Open AccessArticle

A Robust Hꝏ-Based State Feedback Control of Permanent Magnet Synchronous Motor Drives Using Adaptive Fuzzy Sliding Mode Observers

by Hamed Tahami, Sajad Saberi, Bashar Mahmood Ali, Sabah AbdulAmeer, Abbas Hameed Abdul Hussein and Hicham Chaoui

Actuators 2024, 13(8), 307; https://doi.org/10.3390/act13080307 - 9 Aug 2024

Cited by 1 | Viewed by 900

Abstract

In several applications, the accuracy and robust performance of the control method for the speed of permanent magnet synchronous motors (PMSMs) is critical. Model uncertainties, caused by inaccurate model identification, decrease the accuracy of PMSM control. To solve this problem, this paper presents [...] Read more.

In several applications, the accuracy and robust performance of the control method for the speed of permanent magnet synchronous motors (PMSMs) is critical. Model uncertainties, caused by inaccurate model identification, decrease the accuracy of PMSM control. To solve this problem, this paper presents a super robust control structure for the speed control of PMSMs. In the proposed method, the model uncertainties with Lipschitz condition together with disturbances are considered during the PMSM modeling, and their effects are handled using a robust state feedback control. To be more specific, the Lyapunov stability proof is performed in such a way that the model uncertainty effects are eliminated. Before that, the Lyapunov stability criteria have been selected in such a way that the Hꝏ conditions are considered and guaranteed. This issue helps to eliminate the effects of the disturbances. In addition, this paper considers another option to make the whole control structure robust against sudden load changes. To solve this problem, a fuzzy adaptive sliding mode observer (FASMO) is presented to determine the load torque and use it in the control signal generation. In this observer, the switched gain of the sliding mode observer (SMO) is adapted using a fuzzy system to eliminate the chattering phenomena and increase the estimation accuracy. In fact, the proposed method is called super robust because it resists model uncertainties, disturbances, and sudden load changes during three stages by robust state feedback control, Hꝏ criterion, and load estimator, respectively. The performance of the proposed approach is validated through a set of laboratory tests, and its superiority is shown compared to other methods. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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20 pages, 2749 KiB

Open AccessArticle

A New Active Disturbance Rejection Control Tuning Method for High-Order Electro-Hydraulic Servo Systems

by Junli Zhang, Baochun Lu, Chuanjun Chen and Zhengyang Li

Actuators 2024, 13(8), 296; https://doi.org/10.3390/act13080296 - 4 Aug 2024

Viewed by 1199

Abstract

In our industry, active disturbance rejection control already has been used to enhance the performance of the electro-hydraulic servo systems, despite the fact that electro-hydraulic servo systems are usually reduced to first-order and second-order systems. The aim of this paper is to extend [...] Read more.

In our industry, active disturbance rejection control already has been used to enhance the performance of the electro-hydraulic servo systems, despite the fact that electro-hydraulic servo systems are usually reduced to first-order and second-order systems. The aim of this paper is to extend the application of active disturbance rejection control to high-order electro-hydraulic servo systems by introducing a new tuning method. Active disturbance rejection control is transformed into two separate parts in the frequency domain: a pre-filter

H (s)

and a controller

T (s)

. The parameters of the pre-filter and controller can be tuned to satisfy the performance requirements of high-order electro-hydraulic servo systems using quantitative feedback theory. To assess the efficacy of the proposed tuning approach, simulations and an application of a third-order electro-hydraulic servo system have been carried out and the stability of the application with an improved active disturbance rejection controller is analyzed. The results of simulations and experiments reveal that the new tuning method for high-order electro-hydraulic servo systems can obtain a better performance than the bandwidth tuning method and other methods. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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18 pages, 3859 KiB

Open AccessArticle

A Novel Cooperative Control Strategy for Three-Degree-of-Freedom Pneumatic Parallel Mechanism

by Qingqing Huang, Guanwei He, Guodong Feng and Beichen Ding

Actuators 2024, 13(3), 89; https://doi.org/10.3390/act13030089 - 26 Feb 2024

Viewed by 1932

Abstract

The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, [...] Read more.

The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, without considering the consistency among branches. This paper proposes a novel cooperative control strategy for the 3-DoF PM to achieve both synchronized and differential motion. A pneumatic actuated test rig was constructed to validate the effectiveness of the cooperative controller. The results demonstrate our control approach outperforms the PID controller. Our self-designed platform is functional and intuitive, which can be regarded as a control scheme test bench for a 3-DoF PM. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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26 pages, 23085 KiB

Open AccessArticle

A Singular Perturbation Theory-Based Composite Control Design for a Pump-Controlled Hydraulic Actuator with Position Tracking Error Constraint

by Bing-Long Wang, Yan Cai, Jin-Chun Song and Qian-Kun Liang

Actuators 2023, 12(7), 265; https://doi.org/10.3390/act12070265 - 28 Jun 2023

Cited by 3 | Viewed by 1892

Abstract

Pump-controlled hydraulic actuators (PHAs) contain slow mechanical and fast hydraulic dynamics, and thus singular perturbation theory can be adopted in the control strategies of PHAs. In this article, we develop a singular perturbation theory-based composite control approach for a PHA with position tracking [...] Read more.

Pump-controlled hydraulic actuators (PHAs) contain slow mechanical and fast hydraulic dynamics, and thus singular perturbation theory can be adopted in the control strategies of PHAs. In this article, we develop a singular perturbation theory-based composite control approach for a PHA with position tracking error constraint. Disturbance observers (DOBs) are used to estimate the matched and mismatched uncertainties for online compensation. A sliding surface-like error variable is proposed to transform the second-order mechanical subsystem into a first-order error subsystem. Consequently, the position tracking error constraint of the PHA is decomposed into the output constraint of the first-order error subsystem and the stabilizing of the first-order hydraulic subsystem. Slow and fast control laws can be easily designed without using the backstepping technique, thus simplifying the control design and reducing the computational burden to a large extent. Theoretical analysis verifies that desired stability properties can be achieved by an appropriate selection of the control parameters. Simulations and experiments are performed to confirm the efficacy and practicability of the proposed control strategy. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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21 pages, 5713 KiB

Open AccessArticle

Development of an Adaptive Fuzzy Sliding Mode Controller of an Electrohydraulic Actuator Based on a Virtual Prototyping

by Nguyen Huu Tho, Vo Ngoc Yen Phuong and Le Thanh Danh

Actuators 2023, 12(6), 258; https://doi.org/10.3390/act12060258 - 20 Jun 2023

Cited by 5 | Viewed by 1871

Abstract

The EHA (electro hydraulic actuator) has a notable advantage over conventional hydraulic actuators as it uses a closed-loop circuit, reducing the size and volume of oil, and eliminates pressure losses caused by valve orifices. However, accurate control performance of EHA is difficult to [...] Read more.

The EHA (electro hydraulic actuator) has a notable advantage over conventional hydraulic actuators as it uses a closed-loop circuit, reducing the size and volume of oil, and eliminates pressure losses caused by valve orifices. However, accurate control performance of EHA is difficult to achieve using a traditional PID (proportional integral derivative) controller due to the strongly nonlinear, time-varying, and unknown dynamics of the system. Hence this paper seeks to address this problem by proposing a design of an intelligent controller for the EHA. The proposed adaptive fuzzy sliding mode controller (AFSMC) is developed as a hybrid of the adaptive, fuzzy logic, and sliding mode algorithms. To reduce costs and time, a virtual prototype approach is also proposed instead of experimentations to evaluate the performance of the proposed controller. The virtual model of the EHA is built in Amesime software, and then embedded into Matlab/Simulink where the AFSMC is developed and tested to obtain the position responses of the EHA. The results show that the AFSMC is highly successful and more efficient than the traditional PID at controlling the position of the piston accurately. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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18 pages, 4713 KiB

Open AccessArticle

UKF-Based Observer Design for the Electric Brake Booster in Situations of Disturbance

by Mingming Mei, Shuo Cheng, Liang Li, Hongyuan Mu and Yuxuan Pei

Actuators 2023, 12(3), 94; https://doi.org/10.3390/act12030094 - 22 Feb 2023

Cited by 1 | Viewed by 2932

Abstract

The motor-driven electric brake booster (E-Booster) can replace the traditional vacuum booster to realize the braking power assistance and active braking. Independent of extra sensors, this paper proposes a full-state observer for E-Booster based on Unscented Kalman Filter (UKF) in the presence of [...] Read more.

The motor-driven electric brake booster (E-Booster) can replace the traditional vacuum booster to realize the braking power assistance and active braking. Independent of extra sensors, this paper proposes a full-state observer for E-Booster based on Unscented Kalman Filter (UKF) in the presence of a driver’s input force disturbance. The electro-hydraulic system is first modeled, which includes a nonlinear hydraulic model and the reaction disk’s rubber model. The pre-compression is designed to produce linear power assistance based on the properties of rubber material. With the existence of the disturbance, the linear quadratic regulator (LQR) algorithm is used to track the pre-compression of the reaction disk so that E-Booster is developed into a closed-loop system to achieve power assistance. The proposed UKF observer can online estimate the states considering the controller input and disturbance input. To reduce the process error, the hydraulic p-V characteristic is fitted using the recursive least squares (RLS) method before observation. Furthermore, the simulation test and vehicle tests are performed to validate the observation effect. In the closed-loop test, UKF decreases residual error by 16% when compared to the typical Extended Kalman Filter (EKF). The simulation results remain consistent with the experimental results, demonstrating the effectiveness of the proposed method. Full article

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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