Skip to main content
SpringerLink
Log in

Nonlinear modeling and PID control through experimental characterization for an electrohydraulic actuation system: system characterization with validation

  • Technical Paper
  • Published:
Journal of the Brazilian Society of Mechanical Sciences and Engineering Aims and scope Submit manuscript

Abstract

The physical model of an electrohydraulic actuation system has been obtained. To arrive at the closure of the model, experimental models for actuator friction and the characteristics of the proportional valves have been constructed. The variation of discharge through the proportional valve has shown the metered ports to be nonmatched that has been taken care of by estimating two separate coefficients for the main flow path and one leakage coefficient. An algebraic friction model retaining all the features of the existing differential model has been developed. All these nonlinear subsystem models have been integrated together in MATLAB/SIMULINK frame to predict the actuation dynamics. The variations of the predicted and experimental displacements of the piston against different command signals have been found to be quite close to each other.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

Similar content being viewed by others

References

  1. Blackburn JF, Reethrop G, Shearer JL (1960) Fluid power control. The M.I.T Press, Cambridge

    Google Scholar 

  2. Merritt HE (1967) Hydraulic Control Systems. Wiley, New York

    Google Scholar 

  3. Kaddissi C, Kenn’e JP, Saad M (2000) Identification and real-time control of an electrohydraulic servo system based on nonlinear backstepping. IEEE/ASME Trans Mech. 12:12–22

    Article  Google Scholar 

  4. Janocha H, Pesotski D, Kuhnen K (2008) FPGA-based compensator of hysteretic actuator nonlinearities for highly dynamic applications. IEEE/ASME Trans Mech. 13:112–116

    Article  Google Scholar 

  5. Lee SY, Blackburn JF (1952) Contributions to hydraulic control; 1-steady-state axial forces on control valve pistons. Trans ASME 74(6):1005–1011

    Google Scholar 

  6. Wu D, Burton R, Schoenau G (2002) An empirical discharge coefficient model for orifice flow. Int J Fluid Power 3(3):13–19

    Article  Google Scholar 

  7. Mookherjee S, Acharyya S, Majumdar K, Sanyal D (2001) Static-performance based computer-aided design of a DDV and its sensitivity analysis. Int J Fluid Power 2:47–63

    Article  Google Scholar 

  8. Zhang H, Nikiforuk PN, Ukrainetz PR (1993) Neural adaptive control of MIMO electrohydraulic servosystem. In: Proc. 3rd Int Conf Fluid Power Transmission Contr., Hangzhou, pp 315–320

  9. Anyi H, Yiming R, Zhongfu Z, Jianjun H (1997) Identification and adaptive control for electro-hydraulic servo system using neural networks. IntConf Intelligent Processing Syst, Beijing, pp 688–692

    Google Scholar 

  10. Karnopp D (1985) Computer simulation of stick-slip friction in mechanical dynamic systems. Trans ASME J Dyn Syst Meas Contr. 107(1):100–103

    Article  Google Scholar 

  11. de Wit CC, Olsson H, Astrom KJ, Lischinksy P (1995) A new model for control of systems with friction. IEEE Trans Autom Control 40(3):419–425

    Article  MathSciNet  Google Scholar 

  12. Owen WS, Croft EA (2003) The reduction of stick-slip friction in hydraulic actuators. IEEE/ASME Trans Mech. 8(3):362–371

    Article  Google Scholar 

  13. Khayati K, Bigras P, Dessaint L-A (2009) LuGre model-based friction compensation pneumatic actuator using multi-objective LMI optimization. Mechatronics 19(4):535–547

    Article  Google Scholar 

  14. ShaD Bajic V, Band Yang H (2002) New model and sliding mode control of hydraulic elevator velocity tracking system. Simul Pract Theory. 9(6):365–385

    Google Scholar 

  15. Yanada H, Sekikawa Y (2008) Modeling of dynamic behaviors of friction. Mechatronics 18(7):330–339

    Article  Google Scholar 

  16. RE 29 061/09.3900 Catalogue reference of PV

  17. Lippmann R (1987) An introduction to computing with neural nets. IEEE Acoust Speech Signal Process Mag. 4(2):4–22

    Google Scholar 

  18. Rumelhart DE, Hinton G, Williams R (1986) Learning internal representations by backpropagating errors. In: Rumelhart DE, McClelland JL (eds) Parallel distributed processing: explorations in the microstructure of cognition, foundations, vol 1. MIT Press, Cambridge, pp 318–362

  19. Cybenko G (1989) Approximation by superpositions of a sigmoidal function. Math Control Signals Syst 2(4):303–314

    Article  MathSciNet  MATH  Google Scholar 

  20. MatlabSimMechanics documentation on joint stiction actuator (2004) Matlab 7.0.0.19920 (R14). The Mathworks, Inc.

  21. Das J, Das K C, Saha R, Mookherjee S, Sanyal D (2008) Modeling and simulation of an electrohydraulic actuation system through subsystem characterization. In: Proc. INDICON 2008 IEEE conf exhibition control communications automation. IIT Kanpur, India, II, pp 514–520

  22. Marton L (2008) On analysis of limit cycles in positioning systems near Stribeck velocities. Mechatronics 18(1):46–52

    Article  Google Scholar 

  23. Sarkar BK, Das J, Saha R, Mookherjee S, Sanyal D (2013) Approaching servoclass tracking performance by a proportional valve-controlled system. IEEE/ASME Trans Mechatron 18(4):1425–1430

    Article  Google Scholar 

Download references

Acknowledgments

This work has been supported by AR&DB New Delhi and SAP-DRS of UGC New Delhi and Jadavpur University for equipment and Prof. Dipankar Sanyal, Dr. Saikat Mookherjee, and Dr. Rana Saha of Mechanical Engineering Department, Jadavpur University, Kolkata, for help and valuable suggestions.

Author information

Authors and Affiliations

  1. Department of Mining Machinery Engineering, IIT(ISM), Dhanbad, 826004, India

    J. Das & Santosh Kr. Mishra

  2. Department of Mechanical Engineering, Jadavpur University, Kolkata, 700032, India

    R. Saha, S. Mookherjee & D. Sanyal

Authors
  1. J. Das
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Santosh Kr. Mishra
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. R. Saha
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. S. Mookherjee
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. D. Sanyal
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Santosh Kr. Mishra.

Additional information

Technical Editor: Jose A. dos Reis Parise.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Das, J., Mishra, S.K., Saha, R. et al. Nonlinear modeling and PID control through experimental characterization for an electrohydraulic actuation system: system characterization with validation. J Braz. Soc. Mech. Sci. Eng. 39, 1177–1187 (2017). https://doi.org/10.1007/s40430-016-0634-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40430-016-0634-3

Keywords

Search

Navigation