Position Tracking Performance for ElectroHydraulic Actuator System with the Presence of Actuator Internal Leakage

Authors

  • C. M. Shern Centre for Robotics and Industrial Automation, Fakulti Kejuruteraan Elektrik, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • R. Ghazali Centre for Robotics and Industrial Automation, Fakulti Kejuruteraan Elektrik, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • C. C. Soon Centre for Robotics and Industrial Automation, Fakulti Kejuruteraan Elektrik, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Y. M. Sam Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia.
  • M. F. Rahmat Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia.

Keywords:

Electro-Hydraulic Actuator System, Actuator Internal Leakage Coefficient, Performance Analysis,

Abstract

Electro-hydraulic actuator (EHA) system is known as one of the highly nonlinear systems due to its parameters uncertainties. Many types of robust controller had been studied and proposed to control the nonlinear EHA system. Different parameters uncertainties test is needed in the procedure to evaluate the controller robustness. In this paper, the effect of the actuator internal leakage to the output actuator displacement is studied. The actuator output displacement is analyzed using Root Mean Square Error (RMSE) by means of giving sinusoidal input reference. The results show that as the actuator internal leakage increases, the RMSE will increase and the actuator will start to vibrate or show damping characteristics.

References

Q. Ha, Q. Nguyen, D. Rye, and H. Durrant-Whyte, “Force and Position Control for Electrohydraulic Systems of a Robotic Excavator,” in IAARC/IFAC/IEEE. International symposium, 1999, pp. 483–489.

F. Bechet and K. Ohnishi, “An experimental validation of electrohydraulic transmission for haptic teleoperation-Comparison with thrust wire -,” in IEEE International Symposium on Industrial ElectronicsIndustrial Electronics (ISIE), 2014 IEEE 23rd International Symposium, 2014, pp. 1174–1179.

F. Bechet, K. Ogawa, E. Sariyildiz, and K. Ohnishi, “Electrohydraulic Transmission System for Minimally Invasive Robotics,” IEEE Trans. Ind. Electron., vol. 62, no. 12, pp. 7643–7654, 2015.

H. Martinez, S. Ballesteros, and N. Calvo, “Dynamic Stiffness Enhancement of a Flight Control Actuator using Control Techniques,” in Mechatronics (ICM), 2017 IEEE International Conference, 2017, pp. 260–265.

M. Karpenko and N. Sepehri, “Hardware-in-the-loop simulator for research on fault tolerant control of electrohydraulic flight control systems,” 2006 Am. Control Conf., p. 7 pp., 2006.

Y. Wang, J. Chen, Z. Zhang, Z. Cao, and D. Gong, “Research on Novel Integrated Rudder Servo System for Aircraft Aerodynamic Control Based on Double Digital Closed Channels of Power Management and Load Damping,” in Fluid Power and Mechatronics (FPM), 2015 International Conference, 2015, pp. 194–199.

J. J. Castillo, J. A. Cabrera, A. J. Guerra, and A. Simon, “A Novel Electrohydraulic Brake System with Tire-Road Friction Estimation and Continuous Brake Pressure Control,” IEEE Trans. Ind. Electron., vol. 63, no. 3, pp. 1863–1875, 2016.

W. Sun, H. Gao, and B. Yao, “Adaptive robust vibration control of full-car active suspensions with electrohydraulic actuators,” IEEE Trans. Control Syst. Technol., vol. 21, no. 6, pp. 2417–2422, 2013.

W. Sun, H. Pan, and H. Gao, “Filter-Based Adaptive Vibration Control for Active Vehicle Suspensions with Electrohydraulic Actuators,” IEEE Trans. Veh. Technol., vol. 65, no. 6, pp. 4619–4626, 2016.

J. Yao, Z. Jiao, D. Ma, and L. Yan, “High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties,” IEEE/ASME Trans. Mechatronics, vol. 19, no. 2, pp. 633–641, 2014.

C. Kaddissi, J.-P. Kenne, and M. Saad, “Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping,” IEEE/ASME Trans. Mechatronics, vol. 12, no. 1, pp. 12–22, 2007.

C. S. Chong, “Position tracking optimization for an electro-hydraulic actuator system,” J. Telecommun. Electron. Comput. Eng., vol. 8, no. 7, pp. 1–6, 2016.

C. S. Chong, “Optimization of sliding mode control using particle swarm algorithm for an electro-hydraulic actuator system,” J. Telecommun. Electron. Comput. Eng., vol. 8, no. 7, pp. 71–76, 2016.

R. Ghazali, Y. M. Sam, M. F. A. Rahmat, and Z. Has, “Adaptive discrete sliding mode control for a non-minimum phase electrohydraulic actuator system,” Lect. Notes Electr. Eng., vol. 291 LNEE, pp. 3–14, 2014.

Z. Has, M. F. ad Rahmat, A. R. Husain, and R. Ghazali, “Sliding mode control with switching-gain adaptation based-disturbance observer applied to an electro-hydraulic actuator system,” Proc. 2013 IEEE 8th Conf. Ind. Electron. Appl. ICIEA 2013, pp. 668–673, 2013.

E. Kolsi Gdoura, M. Feki, and N. Derbel, “Sliding Mode Based Robust Position Control of An Electrohydraulic System,” in 10th International Multi-Conference on Systems, Signals & Devices, 2013, pp. 1–5.

R. Ghazali, Y. M. Sam, M. F. A. Rahmat, and Zulfatman, “Point-topoint trajectory tracking with two-degree-of-freedom robust control for a non-minimum phase electro-hydraulic system,” in Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2012, pp. 2661–2668.

M. Kalyoncu and M. Haydim, “Mathematical modelling and fuzzy logic based position control of an electrohydraulic servosystem with internal leakage,” Mechatronics, vol. 19, no. 6, pp. 847–858, 2009.

V. Arne, L. Dmitrij, and B. Zoltan, “Detection of Hydraulic Cylinder Leakage,” Aalborg University, 2016.

Downloads

Published

2019-03-31

How to Cite

Shern, C. M., Ghazali, R., Soon, C. C., Sam, Y. M., & Rahmat, M. F. (2019). Position Tracking Performance for ElectroHydraulic Actuator System with the Presence of Actuator Internal Leakage. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 11(1), 21–24. Retrieved from https://jtec.utem.edu.my/jtec/article/view/5174

Issue

Vol. 11 No. 1: January - March 2019

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.


Most read articles by the same author(s)