Accurate decoupled linear modeling for robust H∞  control of multi axis shaking tables

Ali Ghorashi; Andrew Plummer; Kevin Edge; Patrick Keogh

doi:10.1115/DSCC2009-2559

Accurate decoupled linear modeling for robust H∞ control of multi axis shaking tables

Ali Ghorashi, Andrew Plummer, Kevin Edge, Patrick Keogh

Research output: Chapter or section in a book/report/conference proceeding › Chapter or section

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Abstract

This paper illustrates an improved linear modeling method for multi axis electro-hydraulically actuated servo systems to enable the design of high performance and robust H∞ controllers. The model is validated for a Multi Axis Simulation Table (MAST) located at the University of Bath. The dynamic analysis of the MAST proves the effectiveness of the modeling technique compared with conventional methods. Based on the validated linear model, the uncertainties of the system, as determined from parameter estimation errors and system nonlinearities, are quantified. This leads to the design of an H ∞, controller for the MAST. The simulated performance of this controller is then compared with that of a classical PI controller. In this paper, the control potential is demonstrated for horizontal table motion.

Original language	English
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Place of Publication	New York
Publisher	ASME
Pages	1555-1562
Number of pages	8
ISBN (Electronic)	978-0-7918-3860-0
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2559
Publication status	Published - 2010
Event	2009 ASME Dynamic Systems and Control Conference (DSCC2009) - Hollywood, CA, USA United States Duration: 12 Oct 2009 → 14 Oct 2009

Conference

Conference	2009 ASME Dynamic Systems and Control Conference (DSCC2009)
Country/Territory	USA United States
City	Hollywood, CA
Period	12/10/09 → 14/10/09

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10.1115/DSCC2009-2559

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Ghorashi, A, Plummer, A , Edge, K & Keogh, P 2010, Accurate decoupled linear modeling for robust H∞ control of multi axis shaking tables. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009., DSCC2009-2559, ASME, New York, pp. 1555-1562, 2009 ASME Dynamic Systems and Control Conference (DSCC2009), Hollywood, CA, USA United States, 12/10/09. https://doi.org/10.1115/DSCC2009-2559

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title = "Accurate decoupled linear modeling for robust H∞ control of multi axis shaking tables",

abstract = "This paper illustrates an improved linear modeling method for multi axis electro-hydraulically actuated servo systems to enable the design of high performance and robust H∞ controllers. The model is validated for a Multi Axis Simulation Table (MAST) located at the University of Bath. The dynamic analysis of the MAST proves the effectiveness of the modeling technique compared with conventional methods. Based on the validated linear model, the uncertainties of the system, as determined from parameter estimation errors and system nonlinearities, are quantified. This leads to the design of an H ∞, controller for the MAST. The simulated performance of this controller is then compared with that of a classical PI controller. In this paper, the control potential is demonstrated for horizontal table motion.",

author = "Ali Ghorashi and Andrew Plummer and Kevin Edge and Patrick Keogh",

year = "2010",

doi = "10.1115/DSCC2009-2559",

language = "English",

isbn = "9780791848920",

pages = "1555--1562",

booktitle = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",

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note = "2009 ASME Dynamic Systems and Control Conference (DSCC2009) ; Conference date: 12-10-2009 Through 14-10-2009",

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AU - Ghorashi, Ali

AU - Plummer, Andrew

AU - Edge, Kevin

AU - Keogh, Patrick

PY - 2010

Y1 - 2010

N2 - This paper illustrates an improved linear modeling method for multi axis electro-hydraulically actuated servo systems to enable the design of high performance and robust H∞ controllers. The model is validated for a Multi Axis Simulation Table (MAST) located at the University of Bath. The dynamic analysis of the MAST proves the effectiveness of the modeling technique compared with conventional methods. Based on the validated linear model, the uncertainties of the system, as determined from parameter estimation errors and system nonlinearities, are quantified. This leads to the design of an H ∞, controller for the MAST. The simulated performance of this controller is then compared with that of a classical PI controller. In this paper, the control potential is demonstrated for horizontal table motion.

AB - This paper illustrates an improved linear modeling method for multi axis electro-hydraulically actuated servo systems to enable the design of high performance and robust H∞ controllers. The model is validated for a Multi Axis Simulation Table (MAST) located at the University of Bath. The dynamic analysis of the MAST proves the effectiveness of the modeling technique compared with conventional methods. Based on the validated linear model, the uncertainties of the system, as determined from parameter estimation errors and system nonlinearities, are quantified. This leads to the design of an H ∞, controller for the MAST. The simulated performance of this controller is then compared with that of a classical PI controller. In this paper, the control potential is demonstrated for horizontal table motion.

U2 - 10.1115/DSCC2009-2559

DO - 10.1115/DSCC2009-2559

M3 - Chapter or section

SN - 9780791848920

SP - 1555

EP - 1562

BT - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

PB - ASME

CY - New York

T2 - 2009 ASME Dynamic Systems and Control Conference (DSCC2009)

Y2 - 12 October 2009 through 14 October 2009

ER -

Accurate decoupled linear modeling for robust H∞ control of multi axis shaking tables

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