The dynamics of hydraulic systems involves slow and fast modes. These modes are associated with the mechanical components and those involving fluid flow, respectively. As such, controllers for electro-hydraulic servo systems (EHSS) can be designed and analyzed using singular perturbation theory. In this paper, a singular perturbation control (SPC) algorithm is proposed and investigated on a rotary EHSS modeled based on a two-time-scale behavior of the system. For modeling, the components of the hydraulic system, specifically the nonlinear model of the orifice in servo valve, are modeled. A mathematical modeling and nonlinear control analysis that validated by experiment is presented. The controlled system with the SPC algorithm tracks a fairly smooth trajectory with very small error. As well, the control algorithm is successfully verified by experiment as the main contribution of the paper. In addition, this is robust to variations in the hydraulic fluid bulk modulus such that only its nominal value is sufficient. Furthermore, the proposed control design will not require derivatives of the control pressures and any output acceleration feedback. Hence, it can be implemented easier in the real system setup. The controller design approach addresses the nonlinearities of the rotary EHSS. The parameters of the real system model are experimentally identified using the continuous recursive least square method.
Skip Nav Destination
Article navigation
November 2013
Research-Article
Simulation and Experimentation of a Precise Nonlinear Tracking Control Algorithm for a Rotary Servo-Hydraulic System With Minimum Sensors
M. H. Toufighi,
A. A. Jafari
A. A. Jafari
e-mail: ajafari@kntu.ac.ir
Faculty of Mechanical Engineering,
Tehran 19991,
K. N. Toosi University of Technology
,Faculty of Mechanical Engineering,
Vanak Square, Mollasadra Street,
Tehran 19991,
Iran
Search for other works by this author on:
M. H. Toufighi
e-mail: toufighi@alborz.kntu.ac.ir
S. H. Sadati
e-mail: sadati@kntu.ac.ir
F. Najafi
e-mail: fnajafi@guilan.ac.ir
A. A. Jafari
e-mail: ajafari@kntu.ac.ir
Faculty of Mechanical Engineering,
Tehran 19991,
K. N. Toosi University of Technology
,Faculty of Mechanical Engineering,
Vanak Square, Mollasadra Street,
Tehran 19991,
Iran
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received May 23, 2011; final manuscript received April 3, 2013; published online August 23, 2013. Assoc. Editor: Robert Landers.
J. Dyn. Sys., Meas., Control. Nov 2013, 135(6): 061004 (14 pages)
Published Online: August 23, 2013
Article history
Received:
May 23, 2011
Revision Received:
April 3, 2013
Citation
Toufighi, M. H., Sadati, S. H., Najafi, F., and Jafari, A. A. (August 23, 2013). "Simulation and Experimentation of a Precise Nonlinear Tracking Control Algorithm for a Rotary Servo-Hydraulic System With Minimum Sensors." ASME. J. Dyn. Sys., Meas., Control. November 2013; 135(6): 061004. https://doi.org/10.1115/1.4024799
Download citation file:
Get Email Alerts
Cited By
An Adaptive Sliding-Mode Observer-Based Fuzzy PI Control Method for Temperature Control of Laser Soldering Process
J. Dyn. Sys., Meas., Control
Fault detection of automotive engine system based on Canonical Variate Analysis combined with Bhattacharyya Distance
J. Dyn. Sys., Meas., Control
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
Flatness-Based High Frequency Control of a Hydraulic Actuator
J. Dyn. Sys., Meas., Control (March,2012)
Hydraulic Servo System With Mechanically Adjustable Compliance
J. Dyn. Sys., Meas., Control (March,2002)
Fundamental Limits in Combine Harvester Header Height Control
J. Dyn. Sys., Meas., Control (May,2013)
Virtual Model Development of the Load Application System of a Wind Turbine Nacelle Test Bench for Hybrid Test Applications
J. Dyn. Sys., Meas., Control (March,2024)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
A Novel Approach for LFC and AVR of an Autonomous Power Generating System
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Engine Gas Exchange Controlled by Digital Hydraulics
International Conference on Measurement and Control Engineering 2nd (ICMCE 2011)