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Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load

A linear oscillating motor has a direct and efficient linear motion output and is widely used in linear actuation systems. The motor is often applied to compact hybrid electrohydraulic actuators to drive a linear pump. However, the periodic switch of the rectification valve in the pump brings the hy...

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Autores principales: Li, Xinglu, Jiao, Zongxia, Li, Yang, Cao, Yuan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7070636/
https://www.ncbi.nlm.nih.gov/pubmed/32093049
http://dx.doi.org/10.3390/s20041140
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author Li, Xinglu
Jiao, Zongxia
Li, Yang
Cao, Yuan
author_facet Li, Xinglu
Jiao, Zongxia
Li, Yang
Cao, Yuan
author_sort Li, Xinglu
collection PubMed
description A linear oscillating motor has a direct and efficient linear motion output and is widely used in linear actuation systems. The motor is often applied to compact hybrid electrohydraulic actuators to drive a linear pump. However, the periodic switch of the rectification valve in the pump brings the hydraulic step load to the linear motor, which causes periodic oscillation waveform distortions. The distortion results in the reduction of pumping capacity. The conventional feedback proportional-integral-derivative control is applied to the pump, however, this solution cannot handle the step load as well as resolving nonlinear properties and uncertainties. In this paper, we introduce a nonlinear model to identify periodic hydraulic load. Then, the loads are broken up into a set of simple terms by Fourier series approximation. The uncertain terms and other modeling uncertainties are estimated and compensated by the practical adaptive controller. A robust control term is also developed to handle uncertain nonlinearities. The controller overcame drawbacks of conventional repetitive controllers, such as heavy memory requirements and noise sensitivity. The controller can achieve a prescribed final tracking accuracy under periodic hydraulic load via Lyapunov analysis. Finally, experimental results on the linear oscillating motor-pump are provided for validation of the effectiveness of the scheme.
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spelling pubmed-70706362020-03-19 Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load Li, Xinglu Jiao, Zongxia Li, Yang Cao, Yuan Sensors (Basel) Article A linear oscillating motor has a direct and efficient linear motion output and is widely used in linear actuation systems. The motor is often applied to compact hybrid electrohydraulic actuators to drive a linear pump. However, the periodic switch of the rectification valve in the pump brings the hydraulic step load to the linear motor, which causes periodic oscillation waveform distortions. The distortion results in the reduction of pumping capacity. The conventional feedback proportional-integral-derivative control is applied to the pump, however, this solution cannot handle the step load as well as resolving nonlinear properties and uncertainties. In this paper, we introduce a nonlinear model to identify periodic hydraulic load. Then, the loads are broken up into a set of simple terms by Fourier series approximation. The uncertain terms and other modeling uncertainties are estimated and compensated by the practical adaptive controller. A robust control term is also developed to handle uncertain nonlinearities. The controller overcame drawbacks of conventional repetitive controllers, such as heavy memory requirements and noise sensitivity. The controller can achieve a prescribed final tracking accuracy under periodic hydraulic load via Lyapunov analysis. Finally, experimental results on the linear oscillating motor-pump are provided for validation of the effectiveness of the scheme. MDPI 2020-02-19 /pmc/articles/PMC7070636/ /pubmed/32093049 http://dx.doi.org/10.3390/s20041140 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Li, Xinglu
Jiao, Zongxia
Li, Yang
Cao, Yuan
Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load
title Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load
title_full Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load
title_fullStr Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load
title_full_unstemmed Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load
title_short Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load
title_sort adaptive repetitive control of a linear oscillating motor under periodic hydraulic step load
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7070636/
https://www.ncbi.nlm.nih.gov/pubmed/32093049
http://dx.doi.org/10.3390/s20041140
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