NDLI: Accurate Position Control of a Servo-Hydraulic Test Cylinder by Iterative Learning Control Technique

Content Provider	IEEE Xplore Digital Library
Author	Lingjun Li Poms, U. Thurner, T.
Copyright Year	2014
Description	Author affiliation: Inst. of Lightweight Design, Graz Univ. of Technol., Graz, Austria (Lingjun Li; Poms, U.; Thurner, T.)
Abstract	This paper describes a solution for repetitive position control problems with servo-hydraulic test cylinders. By extending the classical P-type iterative learning control algorithm with a frequency domain filtering technique, we obtain robust control performance with fast system convergence. In traditional P-type iterative learning control, there is always a contradiction between fast convergence and algorithm stability. With a large learning parameter value the control system is quickly convergent nevertheless in iteration domain the algorithm is unstable even if a stable feedback control system is applied; while with a small learning parameter value the algorithm is stable however the convergence rate is not satisfying. Extending ILC with a frequency domain low-pass filter allows us for achieving quick convergence rates during consecutive control iterations while still ensuring overall system stability. Based on a full simulation of the servo-hydraulic cylinder system we are able to simulate the ILC cylinder system behavior for our test setup, enabling for system performance investigation and optimization prior to the realization of a certain test setup. Experimental results with a real-world single-cylinder test rig validate our accurate system simulation environment and furthermore demonstrate the high position control performance of the proposed ILC method.
Starting Page	297
Ending Page	302
File Size	1351362
Page Count	6
File Format	PDF
e-ISBN	9781479974122
DOI	10.1109/EMS.2014.87
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-21
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Frequency-domain analysis Fatigue Stability analysis Iterative Learning Control; Servo-Hydraulic Cylinder Control; Electro-Hydraulic Servo System; Fatigue Testing; Frequency Domain Filter Servomotors Convergence
Content Type	Text
Resource Type	Article

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