Adaptive control for a mulit-axis hydraulic test rig

Kevin A Edge, AO Gizatullin

Research output: Contribution to journalArticle

39 Citations (Scopus)
104 Downloads (Pure)

Abstract

Multi-axis hydraulic rigs are widely used in industrial testing applications but still represent a challenging area for control system design. This paper considers the control of a six degrees-of-freedom Multi-Axis Shaking Table driven by six hydraulic actuators. The strategy adopted employs adaptive decentralised position control, i.e. each axis has its own adaptive controller. The scheme developed is based on a cascade Minimal Control Synthesis (MCS) approach, which is a class of Model Reference Adaptive Control (MRAC). The theoretical background to the controller is presented, together with the results of an experimental study. Performance is compared with three other fixed gain control schemes. The new adaptive scheme has superior disturbance rejection and command tracking capabilities
Original languageEnglish
Pages (from-to)183-198
Number of pages16
JournalProceedings of the International Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Volume221
Issue number2
DOIs
Publication statusPublished - 2007

Fingerprint

Hydraulics
Hydraulic actuators
Model reference adaptive control
Controllers
Decentralized control
Disturbance rejection
Gain control
Position control
Systems analysis
Control systems
Testing

Keywords

  • Minimal control synthesis
  • Adaptive control
  • Multi-axis shaking table
  • Hydraulic actuation

Cite this

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AB - Multi-axis hydraulic rigs are widely used in industrial testing applications but still represent a challenging area for control system design. This paper considers the control of a six degrees-of-freedom Multi-Axis Shaking Table driven by six hydraulic actuators. The strategy adopted employs adaptive decentralised position control, i.e. each axis has its own adaptive controller. The scheme developed is based on a cascade Minimal Control Synthesis (MCS) approach, which is a class of Model Reference Adaptive Control (MRAC). The theoretical background to the controller is presented, together with the results of an experimental study. Performance is compared with three other fixed gain control schemes. The new adaptive scheme has superior disturbance rejection and command tracking capabilities

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