Projects per year
Abstract
This paper addresses a controller design methodology for the hydraulic actuation of non-linear multi-body systems. It takes account of system uncertainties, envisaged system changes through added mass, positioning speed requirements, and vibration control. A mathematical model developed in the companion paper, Part 1, describes an experimental multibody structure that is actuated by a hydraulic system. It is used to generate H-infinity-based position and active vibration controllers to meet the actuation requirements at the design stage. Experimental tests were undertaken with the developed H-infinity controllers to demonstrate their accuracy and stability of motion control. The results are compared to 'base level' tests completed using a more traditional proportional-integral (PI) controller. In contrast with the instability experienced using PI control, the design process associated with the H-infinity controllers ensures accurate closed loop stability over the range of system variations.
Original language | English |
---|---|
Pages (from-to) | 365-375 |
Number of pages | 11 |
Journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
Volume | 222 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2008 |
Bibliographical note
ID number: ISI:000255699100008Fingerprint
Dive into the research topics of 'Hydraulic actuation of multi-body structures through large-scale motions. Part 2: controller design and performance'. Together they form a unique fingerprint.Projects
- 1 Finished
-
INTEGRATED SYSTEMS FOR HIGH BAND WIDTH ULTRA HIGH PRECISION ACTUATION
Keogh, P. (PI), Bowen, C. (CoI), Edge, K. (CoI), Johnston, N. (CoI) & Tilley, D. (CoI)
Engineering and Physical Sciences Research Council
1/10/06 → 30/09/09
Project: Research council