Sage Journals: Discover world-class research

Abstract

Multi-axis hydraulic rigs are widely used in industrial testing applications but still represent a challenging area for control system design. The current paper considers the control of a six-degrees-of-freedom multi-axis shaking table driven by six hydraulic actuators. The strategy adopted employs adaptive decentralized position control, i.e. each axis has its own adaptive controller. The scheme developed is based on a cascade minimal control synthesis (MCS) approach, which is a class of model reference adaptive control (MRAC). The theoretical background to the controller is presented, together with the results of an experimental study. Performance is compared with three other fixed-gain control schemes. The new adaptive scheme has superior disturbance rejection and command tracking capabilities.

Keywords

multi-axis shaking table hydraulic actuation adaptive control minimal control synthesis

Get full access to this article

View all access options for this article.

References

Plummer

A. R.

Non-linear control of a flight simulation motion system. IEEE Conference on Control applications, 1994, Vol. 1, pp. 365–370.

Tsukamoto

Yokota

Two-degree-of-freedom control with parallel feedforward compensators (the effects on the control of a six-link electro-hydraulic serial manipulator). 5th JFPS International Symposium on Fluid power, Nara, Japan, November 2002, Vol. 2, pp. 597–602.

De Cuyper

Swevers

Verhaegen

Sas

H∞ feedback control for signal tracking on a 4 poster test rig in the automotive industry. International Conference on Noise and vibration, Leuven, Belgium, 13-15 September 2000, p.

De Cuyper

Vaes

Dehandschutter

Swevers

Verhaegen

Sas

Experimental H∞ control to improve an industrial off-line tracking control scheme on an automotive suspension test rig. Conference on Control applications, IFAC, Glasgow, September 2002, p.

Edge

K. A.

de Almeida

Gomes F.

Decentralized adaptive control of a directly driven hydraulic manipulator. Part 1: Theory; Part 2: Experiment

Proc. Instn Mech. Engrs, Part I: J. System and Control Engineering, 1995, 209, 191–205.

Gomez

E. G.

Application of the MCS algorithm to the control system of the Bristol Shaking Table. PhD thesis. Faculty of Engineering, University of Bristol, Bristol, 1999.

Stoten

D P

Implementation of minimal control synthesis on a servo-hydraulic testing machine

Proc. Instn Mech. Engrs, Part I: J. System and Control Engineering, 1992, 206, 189–194.

Stoten

D P

Benchoubane

Empirical studies of an MRAC algorithm with minimal controller synthesis

Int. J. Control, 1990, 51 (4), 823–849.

Stoten

D P

Benchoubane

Robustness of a minimal controller synthesis algorithm

Int. J. Control, 1990, 51 (4), 851–861.

10.

Stoten

D P

The adaptive minimal control synthesis algorithm with integral action, 1995, pp. 1646–1651 (IEEE, New York).

11.

Hessburg

T. M.

Kranz

D. G.

Feedforward control (based on model invertion) and system performance prediction using high-fidelity nonlinear dynamic system modelling

In Proceedings of the 1997 IEEE International Conference on Control applications, Hartford, CT, USA, 1997, pp. 57–62.

12.

Bitmead

R. R.

Persistence of excitation conditions and the convergence of adaptive schemes

IEEE Trans. Inf. Theory, 1984, IT-30 (2), 183–191.

13.

Mareels

M. Y.I.

Bitmead

R. R.

Bifurcation effects in robust adaptive control

IEEE Trans. Circuits and Systems, 1988, 35 (7), 835–841.

14.

Stoten

D P

Fusion of kinetic data using composite filters

Proc. Instn Mech. Engrs, Part I: J. System and Control Engineering, 2001, 215, 483–497.

15.

Rey

G. J.

Bitmead

R. R.

Johnson

C. R.

The dynamics of bursting in simple adaptive feedback systems with leakage

IEEE Trans. Circuits and Systems, 1991, 38 (5), 476–488.

16.

Stoten

D P

Sebusang

S. E. M.

Gain bounds in the minimal controller synthesis algorithm

Proc. Instn Mech. Engrs, Part I: J. System and Control Engineering, 1998, 212 (1), 345–359.

Adaptive control for a multi-axis hydraulic test rig

Abstract

Abstract

Keywords

Get full access to this article

References