Abstract
The paper stresses on the designing and implementation of a nonlinear offline feed forward controller in association with a PID controller as a fault tolerant control measure for a closed loop hydraulic system. An off-line nonlinear feed forward control with proportional pressure relief valve (PRV) loading on the loading pump has been developed using the subsystem models without taking into considerations the oil compressibility, valve dynamics and leakages associated with various components of the hydraulic circuit. A PID feedback has been utilized in real-time to deal with the unmodeled features and the modelling approximations. The characteristics of the speed response are significantly influenced by the disturbances related to external torque, change in the input magnitude as well as system parameters like inertia load and supply pressure. The real-time control showed that the experimental and predicted closed–loop control performances justify each other quite well. Hence, the PID gains were estimated quite effectively with the help of the developed simulation tool here. The control model produced good agreement between the demanded and real-time speed response for various loading conditions such as step load, sinusoidal load, variable load, triangular load etc.
Similar content being viewed by others
References
M. Qiankun, W. Xuyong, Y. Fan, T. Jianfeng and L. Peng, Research on feed-forward PIDD 2 control for hydraulic continuous rotation motor electro-hydraulic servo system with long pipeline, 2016 UKACC 11th International Conference on Control (CONTROL), IEEE (2016) 1–6.
J. C. Mare, Dynamic loading systems for ground testing of high speed aerospace actuators, Aircraft Engineering and Aerospace Technology, 78 (4) (2006) 275–282.
X. Wang, L. Sun and J. Yan, Experimental research on improving loading performance by compounding feedforward control, Acta Simulata Systematica Sinica, 7 (2004) 046.
P. V. D. Braembussche, J. Swevers, H. V. Brussel and P. Vanherck, Accurate tracking control of linear synchronous motor machine tool axes, Mechatronics, 6 (5) (1996) 507–521.
Y. Jianyong, J. Zongxia, S. Yaoxing and H. Cheng, Adaptive nonlinear optimal compensation control for electrohydraulic load simulator, Chinese Journal of Aeronautics, 23 (6) (2010) 720–733.
T. Morita and Y. Sakawa, Modeling and control of a power shovel, Transactions of the Society of Instrument and Control Engineers, 22 (1) (1986) 69–75.
N. Sepehri, P. D. Lawrence, F. Sassani and R. Frenette, Resolved-mode teleoperated control of heavy-duty hydraulic machines, Journal of Dynamic Systems, Measurement, and Control, 116 (2) (1994) 232–240.
H. Qiu and Q. Zhang, Feedforward-plus-proportionalintegral-derivative controller for an off-road vehicle electrohydraulic steering system, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 217 (5) (2003) 375–382.
B. K. Sarkar, J. Das, R. Saha, S. Mookherjee and D. Sanyal, Approaching servoclass tracking performance by a proportional valve-controlled system, IEEE/ASME Transactions on Mechatronics, 18 (4) (2013) 1425–1430.
E. Papadopoulos, B. Mu and R. Frenette, On modeling, identification, and control of a heavy-duty electrohydraulic harvester manipulator, IEEE/ASME Transactions on Mechatronics, 8 (2) (2003) 178–187.
J. Das, S. K. Mishra, R. Saha, S. Mookherjee and D. Sanyal, Nonlinear modeling and PID control through experimental characterization for an electrohydraulic actuation system: System characterization with validation, Journal of the Brazilian Society of Mechanical Sciences and Engineering, 39 (4) (2016) 1177–1187.
C. Yang, Q. Huang and J. Han, Computed force and velocity control for spatial multi-DOF electro-hydraulic parallel manipulator, Mechatronics, 22 (6) (2012) 715–722.
C. Wang, Z. Jiao and L. Quan, Adaptive velocity synchronization compound control of electro-hydraulic load simulator, Aerospace Science and Technology, 42 (2015) 309–321.
C. Wang et al., Nonlinear adaptive torque control of electro-hydraulic load system with external active motion disturbance, Mechatronics, 24 (1) (2014) 32–40.
B. Gao, J. Shao and X. Yang, A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system, ISA Transactions, 53 (6) (2014) 1910–1918.
S. Gang et al., Adaptive feed-forward compensation for hybrid control with acceleration time waveform replication on electro-hydraulic shaking table, Control Engineering Practice, 21 (8) (2013) 1128–1142.
J. Pan, G. L. Shi and X. M. Zhu, Force tracking control for an electro-hydraulic actuator based on an intelligent feed forward compensator, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 224 (4) (2010) 837–849.
H. Su et al., Feed forward fuzzy PID controller for common-rail pressure control of diesel engine, 2010 International Conference on Measuring Technology and Mechatronics Automation (ICMTMA), IEEE, 2 (2010).
Y. Pi and X. Wang, Observer-based cascade control of a 6-DOF parallel hydraulic manipulator in joint space coordinate, Mechatronics, 20 (6) (2010) 648–655.
Author information
Authors and Affiliations
Corresponding author
Additional information
Recommended by Associate Editor Baek-Kyu Cho
Santosh Kumar Mishra obtained his Ph.D. degree from Indian institute of Technology (ISM) Dhanbad under the supervision of Dr. Jayanta Das. His areas of interests include fluid power control and hydraulics.
Gyan Wrat is pursuing his Ph.D. degree from Indian institute of Technology (ISM) Dhanbad under the supervision of Dr. Jayanta Das. His areas of interests include fluid power system and control.
Prabhat Ranjan is pursuing his Ph.D. degree from Indian institute of Technology (ISM) Dhanbad under the supervision of Dr. Jayanta Das. His areas of interests include fluid power systems and hybrid hydraulics.
Rights and permissions
About this article
Cite this article
Mishra, S.K., Wrat, G., Ranjan, P. et al. PID controller with feed forward estimation used for fault tolerant control of hydraulic system. J Mech Sci Technol 32, 3849–3855 (2018). https://doi.org/10.1007/s12206-018-0737-0
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12206-018-0737-0