Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque

We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a sinusoidal disturbance, whose magnitude can be es...

Full description

Bibliographic Details
Main Authors: Sangmin Suh, Wonhee Kim
Format: Article
Language:English
Published: MDPI AG 2020-09-01
Series:Mathematics
Subjects:
Online Access:https://www.mdpi.com/2227-7390/8/9/1484
id doaj-4feb32f962164ca3adef005c79bc5f71
record_format Article
spelling doaj-4feb32f962164ca3adef005c79bc5f712020-11-25T03:31:18ZengMDPI AGMathematics2227-73902020-09-0181484148410.3390/math8091484Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load TorqueSangmin Suh0Wonhee Kim1Department of Information and Telecommunication Engineering, Gangneung-Wonju National University, Wonju-si 26403, Gangwon-do, KoreaSchool of Energy Systems Engineering, Chung-Ang University, Seoul 06974, KoreaWe propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a sinusoidal disturbance, whose magnitude can be estimated via a load torque observer. In the proposed load torque observer, the load torque can be estimated without requiring its maximum frequency to be known. The position controller tracks position and comprises an inner-loop load pressure controller and an outer-loop position controller. The former tracks the desired pressure via near input–output linearization. The desired pressure is developed using the differential flatness of the mechanical system in the EHA. The feedback plus feedforward outer-loop position controller is designed to track the desired position and to compensate for the load torque. The stability of the closed-loop system is mathematically proven using the input-to-state stability property.https://www.mdpi.com/2227-7390/8/9/1484electro hydraulic actuatorload torque observerposition tracking
collection DOAJ
language English
format Article
sources DOAJ
author Sangmin Suh
Wonhee Kim
spellingShingle Sangmin Suh
Wonhee Kim
Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque
Mathematics
electro hydraulic actuator
load torque observer
position tracking
author_facet Sangmin Suh
Wonhee Kim
author_sort Sangmin Suh
title Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque
title_short Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque
title_full Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque
title_fullStr Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque
title_full_unstemmed Nonlinear Position Control Using Differential Flatness Concept with Load Torque Observer for Electro Hydraulic Actuators with Sinusoidal Load Torque
title_sort nonlinear position control using differential flatness concept with load torque observer for electro hydraulic actuators with sinusoidal load torque
publisher MDPI AG
series Mathematics
issn 2227-7390
publishDate 2020-09-01
description We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a sinusoidal disturbance, whose magnitude can be estimated via a load torque observer. In the proposed load torque observer, the load torque can be estimated without requiring its maximum frequency to be known. The position controller tracks position and comprises an inner-loop load pressure controller and an outer-loop position controller. The former tracks the desired pressure via near input–output linearization. The desired pressure is developed using the differential flatness of the mechanical system in the EHA. The feedback plus feedforward outer-loop position controller is designed to track the desired position and to compensate for the load torque. The stability of the closed-loop system is mathematically proven using the input-to-state stability property.
topic electro hydraulic actuator
load torque observer
position tracking
url https://www.mdpi.com/2227-7390/8/9/1484
work_keys_str_mv AT sangminsuh nonlinearpositioncontrolusingdifferentialflatnessconceptwithloadtorqueobserverforelectrohydraulicactuatorswithsinusoidalloadtorque
AT wonheekim nonlinearpositioncontrolusingdifferentialflatnessconceptwithloadtorqueobserverforelectrohydraulicactuatorswithsinusoidalloadtorque
_version_ 1724572316420014080