Adaptive control of an electrohydraulic servo system utilizing online estimate of its natural frequency

被引：31

作者：

Yanada, Hideki

Furuta, Kazumasa

机构：

[1] Toyohashi Univ Technol, Fac Engn, Dept Mech Engn, Tempaku Ku, Toyohashi, Aichi 4418580, Japan

[2] Harmon Drive Syst Inc, Hokata 3998305, Japan

来源：

MECHATRONICS | 2007年 / 17卷 / 06期

关键词：

electrohydraulic servo system; adaptive control; parameter estimation; natural frequency; parallel feedforward compensator;

D O I：

10.1016/j.mechatronics.2007.04.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with online parameter estimation of an electrohydraulic servo (EHS) system and with adaptive control of the EHS system utilizing the parameter estimated online. In this study, the natural frequency of the EHS system is estimated using pressure sensors based on the equation of motion and equation of continuity, and the estimate of the natural frequency is utilized to enhance the robustness of the EHS system combined with a parallel feedforward compensator (PFC). The optimal value of one of the PFC parameters is strongly influenced by the natural frequency of the EHS system and is adaptively varied using the estimate of the natural frequency. It is shown that the natural frequency of the EHS system can be estimated relatively accurately using the method proposed, and that the robustness of the EHS system to the plant parameter variations can be enhanced by adaptively varying the PFC parameter. (C) 2007 Elsevier Ltd. All rights reserved.

引用

页码：337 / 343

页数：7

共 7 条

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