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首页> 外文期刊>Journal of control science and engineering >Simulation and Experimental Studies on Perfect Tracking Optimal Control of an Electrohydraulic Actuator System
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Simulation and Experimental Studies on Perfect Tracking Optimal Control of an Electrohydraulic Actuator System

机译：电液执行器系统完美跟踪最优控制的仿真与实验研究

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摘要

This paper presents a perfect tracking optimal control for discrete-time nonminimum phase of electrohydraulic actuator (EHA) system by adopting a combination of feedback and feedforward controller. A linear-quadratic regulator (LQR) is firstly designed as a feedback controller, and a feedforward controller is then proposed to eliminate the phase error emerged by the LQR controller during the tracking control. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique in which the main difficulty arises from the nonminimum phase system with no stable inverse. Subsequently, the proposed controller is performed in simulation and experimental studies where the EHA system is represented in discrete-time model that has been obtained using system identification technique. It also shows that the controller offers better performance as compared to conventional PID controller in reducing phase and gain error that typically occurred in positioning or tracking systems.
机译：本文通过反馈和前馈控制器的组合，为电液执行器（EHA）的离散时间非最小相位提出了一种完美的跟踪最优控制。首先将线性二次调节器（LQR）设计为反馈控制器，然后提出前馈控制器以消除LQR控制器在跟踪控制过程中出现的相位误差。前馈控制器是通过实现零相位误差跟踪控制（ZPETC）技术而开发的，该技术的主要困难来自于非最小相位系统，并且没有稳定的逆函数。随后，在仿真和实验研究中执行提出的控制器，其中EHA系统以离散时间模型表示，该模型已使用系统识别技术获得。它还表明，与传统的PID控制器相比，该控制器在减少通常在定位或跟踪系统中发生的相位和增益误差方面提供了更好的性能。

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  • 来源
    《Journal of control science and engineering》 |2012年第1期|670635.1-670635.8|共8页
  • 作者

    R. Ghazali; Y. M. Sam; M. E Rahmat; Zulfatman; A. W. I. M. Hashim;

  • 作者单位

    Department of Mechatronic and Robotic Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, Batu Pahat, 86400 Johor, Malaysia,Department of Control and Instrumentation Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor, Malaysia;

    Department of Control and Instrumentation Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor, Malaysia;

    Department of Control and Instrumentation Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor, Malaysia;

    Department of Control and Instrumentation Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor, Malaysia;

    Department of Control and Instrumentation Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor, Malaysia;

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