Abstract
This work studies the modeling and design of a proportional-integral-derivative (PID) plus feedforward controller for a high precision electrohydraulic actuator (EHA) system. The high precision positioning EHA system is capable of achieving a very high accuracy positioning performance. Many sophisticated control schemes have been developed to address these problems. However, in industrial applications, PID control is still the most popular control strategy used. Therefore, the main objective of this work is to design a PID controller for the EHA system, improving its performance while maintaining and enjoying the simple structure of the PID controller. An extra feedforward term is introduced into the PID controller to compensate for the tracking error especially during the transient period. The PID plus feedforward control design is augmented into a static output feedback (SOF) control design problem and the SOF controller is designed by solving an H ∞ optimization problem with bilinear matrix inequalities (BMIs).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Aström K, Hagglund, T (2001) The future of PID control. Contr Eng Pract 9(11):1163–1175
Bara GI, Boutayeb M (2005) Static output feedback stabilization with H ∞ performance for linear discrete-tiem systems. IEEE Trans Automat Contr 50(2):250–254
Bianchi FD, Mantz RJ, Christiansen CF (2008) Multivariable PID control with set-point weighting via BMI optimization. Automatica 44(2):472–478
Dieulot JY, Colas F (2009) Robust PID control of a linear mechanical axis: a case study. Mechatronics 19:269–273
Gahinet P, Apkarian P (1994) A linear matrix inequality approach to H ∞ control. Int J Robust Nonlinear Contr 4:421–448
Ge M, Chiu MS, Wang QG (2002) Robust PID controller design via LMI approach. J Process Contr 12(1):3–13
Ge P, Jouaneh M (1996) Tracking control of a piezoceramic actuator. IEEE Trans Contr Syst Technol 4(3):209–216
Gomis-Bellmunt O, Campanile F, Galceran-Arellano S, Montesinos-Miracle D, Rull-Duran J (2008) Hydraulic actuator modeling for optimization of mechatronic and adaptronic systems. Mechatronics 18:634–640
Grewal MS, Amdrews AP (2001) Kalman filtering theory and practice using MATLAB. Wiley, New York
Habibi SR, Goldenberg A (2000) Design of a new high-performance electrohydraulic actuator. IEEE/ASME Trans Mechatron 5(2):158–164
Habibi SR, Goldenberg AA (2000) Design of a new high-performance electrohydraulic actuator. IEEE/ASME Trans Mechatron 5(2):158–165
Hang CC, Aström K, Ho WK (1991) Refinements of the Ziegler-Nichols tuning formula. IEE Proc Contr Theor Appl 138(2):111–118
Laurent EG, Francois O, Mustapha A (1997) A cone complementarity linearization algorithm for static output feedback and related problems. IEEE Trans Automat Contr 42(8):1171–1176
Leva A, Bascetta L (2006) On the design of the feedforward compensator in two-degree-of-freedom controllers. Mechatronics 16:533–546
Lin Y, Shi Y, Burton R (2009) Modeling and robust discrete-time sliding mode control design for a fluid power electrohydraulic actuator (EHA) system. In: Dynamic system control conference, Hollywood, USA
Rovira-Mas F, Zhang Q, Hansen AC (2007) Dynamic behavior of an electrohydraulic valve: typology of characteristic curves. Mechatronics 17:551–561
Sampson E (2005) Fuzzy control of the electrohydraulic actuator. Master’s thesis, University of Saskatchewan
Thanh TDC, Ahn KK (2006) Nonlinear PID control to improve the control performance of 2-axes pneumatic artificial muscle manipulator using neural network. Mechatronics 16:577–587
Toufighi MH, Sadati SH, Najaif F (2007) Modeling and analysis of a mechatronic actuator system by using bond graph methodology. In: Proceedings of IEEE aerospace conference, Big Sky, MT, pp 1–8
Visioli A (2004) A new design for a PID plus feedforward controller. J Process Contr 14(5):457–463
Wang J, Wu J, Wang L, You Z (2009) Dynamic feed-forward control of a parallel kinematic machine. Mechatronics 19:313–324
Wang S, Habibi S, Burton R, Sampson E (2008) Sliding mode control for an electrohydraulic actuator system with discontinuous non-linear friction. Proc IME J Syst Contr Eng 222(8):799–815
Yanada H, Furuta K (2007) Adaptive control of an electrohydraulic servo system utilizing online estimate of its natural frequency. Mechatronics 17:337–343
Zheng F, Wang QG, Lee TH (2002) On the design of multivariable PID controller via LMI approach. Automatica 38(3):517–526
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer Science+Business Media New York
About this chapter
Cite this chapter
Lin, Y., Shi, Y., Burton, R. (2013). Modeling and H ∞ PID Plus Feedforward Controller Design for an Electrohydraulic Actuator System. In: Zhang, D. (eds) Advanced Mechatronics and MEMS Devices. Microsystems, vol 23. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-9985-6_12
Download citation
DOI: https://doi.org/10.1007/978-1-4419-9985-6_12
Published:
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4419-9984-9
Online ISBN: 978-1-4419-9985-6
eBook Packages: EngineeringEngineering (R0)