反馈线性化控制一台转动液压传动外文文献翻译液压类毕业中英文翻译外文翻译.doc
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1、外文原文:Feedback linearization based control of a rotational hydraulic drive Control Engineering Practice,Volume 15, Issue 12,December 2007, Pages 1495-1507Jaho Seo, Ravinder Venugopal and Jean-Pierre KennAbstract The technique of feedback linearization is used to design controllers for displacement, v
2、elocity and differential pressure control of a rotational hydraulic drive. The controllers, which take into account the square-root nonlinearity in the systems dynamics, are implemented on an experimental test bench and results of performance evaluation tests are presented. The objective of this res
3、earch is twofold: firstly, to present a unified method for tracking control of displacement, velocity and differential pressure; and secondly, to experimentally address the issue of whether the system can be modeled with sufficient accuracy to effectively cancel out the nonlinearities in a real-worl
4、d system. Keywords: Nonlinear control; Feedback linearization; Hydraulic actuators; Real-time systems 1. IntroductionElectro-hydraulic hydraulic servo-systems (EHSS) are extensively used in several industries for applications ranging from hydraulic stamping and injection molding presses to aerospace
5、 flight-control actuators. EHSS serve as very efficient drive systems because they posses a high power/mass ratio, fast response, high stiffness and high load capability. To maximize the advantages of hydraulic systems and to meet increasingly exacting performance specifications in terms of robust t
6、racking with high accuracy and fast response, high performance servo-controllers are required. However, traditional linear controllers (Anderson, 1988 and Merritt, 1967) have performance limitations due to the presence of nonlinear dynamics in EHSS, specifically, a square-root relationship between t
7、he differential pressure that drives the flow of the hydraulic fluid, and the flow rate. These limitations have been well documented in the literature; see Ghazy (2001), Sun and Chiu (1999), for example. Several approaches have been proposed to address these limitations, including the use of variabl
8、e structure control (Ghazy, 2001; Mihajlov, Nikolic, & Antic, 2002), back-stepping (Jovanovic, 2002; Kaddissi et al., 2005 and Kaddissi et al., 2007; Ursu & Popescu, 2002) and feedback linearization (Chiriboga et al., 1995 and Jovanovic, 2002). Variable structure control in its basic form is prone t
9、o chattering (Guglielmino & Edge, 2004) since the control algorithm is based on switching; however, several modifications have been proposed to address this problem (Ghazy, 2001, Guglielmino and Edge, 2004 and Mihajlov et al., 2002). Back-stepping is a technique that is based on Lyapunov theory and
10、guarantees asymptotic tracking (Jovanovic, 2002, Kaddissi et al., 2005, Kaddissi et al., 2007 and Ursu and Popescu, 2002), but finding an appropriate candidate Lyapunov function can be challenging. The controllers obtained using this method are typically complicated and tuning control parameters for
11、 transient response is non-intuitive. Other Lyapunov based techniques address additional system nonlinearities such as friction, but are also prone to the same drawbacks as those listed for back-stepping (Liu & Alleyne, 1999). Feedback linearization, in which the nonlinear system is transformed into
12、 an equivalent linear system by effectively canceling out the nonlinear terms in the closed-loop, provides a way of addressing the nonlinearities in the system while allowing one to use the power of linear control design techniques to address transient response requirements and actuator limitations.
13、 The use of feedback linearization for control of EHSS has been described in Chiriboga et al. (1995) and Jovanovic (2002). In Brcker and Lemmen (2001) disturbance rejection for tracking control of a hydraulic flexible robot is considered, using a decoupling technique similar to the feedback lineariz
14、ation approach proposed herein. However, this approach requires measurements of the disturbance forces and their time derivatives, which are unlikely to be readily available in a practical application. In contrast to the above mentioned techniques, which are all full-state feedback based approaches,
15、 Sun and Chiu (1999) describe the design of an observer-based algorithm specifically for force control of an EHSS. An adaptive controller which uses an iterative approach to update control parameters and addresses frictional effects with minimal plant and disturbance knowledge is proposed in Tar, Ru
16、das, Szeghegyi, and Kozlowski (2005) based on the model described in Brcker and Lemmen (2001). Most of the literature on the subject shows simulation results; notable exceptions with actual experimental results are Liu and Alleyne (1999), Niksefat and Sepehri (1999), Sugiyama and Uchida (2004), and
17、Sun and Chiu (1999). The focus of this study is on presenting a controller design approach that is comprehensive, that is, one that covers displacement, velocity and differential pressure control, addresses the nonlinearities present in EHSS and considers practical issues such as transient response
18、and real-time implementation. Thus, a significant portion of the paper is dedicated to the experimental aspects of the study. In addition, this paper is intended to serve as a clear guide for the development and implementation of feedback linearization based controllers for EHSS. The paper is organi
19、zed as follows: Section 2 describes the rotational hydraulic drive that is used as an experimental test bench. In this section, the mathematical model of the system is also reviewed and validated using experimental data. Section 3 describes the design of PID controllers for this system with simulati
20、on and experimental results that serve as a baseline for evaluating the performance of the feedback linearization controllers; Section 4 describes the design and implementation of the feedback linearization controllers and finally, concluding remarks are provided in Section 5. 2. ModelingSystem desc
21、riptionThe electro-hydraulic system for this study is a rotational hydraulic drive at the LITP (Laboratoire dintgration des technologies de production) of the University of Qubec cole de technologie suprieure (TS). The set-up is generic and allows for simple extension of the results herewith to othe
22、r electro-hydraulic systems, for example, double-acting cylinders. Referring to the functional diagram in Fig. 1, a DC electric motor drives a pump, which delivers oil at a constant supply pressure from the oil tank to each component of the system. The oil is used for the operation of the hydraulic
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