Robust two-degrees-of-freedom control of hydraulic drive with remote wireless operation

被引:1
|
作者
Checchin, Riccardo [1 ]
Ruderman, Michael [2 ]
Oboe, Roberto [1 ]
机构
[1] Univ Padua, Dept Management & Engn, Vicenza, Italy
[2] Univ Agder UiA, Dept Engn Sci, PB 422, N-4604 Kristiansand, Norway
来源
2023 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, ICM | 2023年
关键词
PID controller; robust control design; hydraulic system; communication delay; remote control; robust stability; CONTROL-SYSTEMS; DESIGN;
D O I
10.1109/ICM54990.2023.10101993
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, a controller design targeting the remotely operated hydraulic drive system is presented. A twodegrees-of-freedom PID position controller is used, which is designed so that to maximize the integral action under robust constraint. A linearized model of the system plant, affected by the parameters uncertainties such as variable communication timedelay and overall system gain, is formulated and serves for the control design and analysis. The performed control synthesis and evaluation are targeting the remote operation where the wireless communication channel cannot secure a deterministic real-time of the control loop. The provided analysis of uncertainties makes it possible to ensure system stability under proper conditions. The theoretically expected results are confirmed through laboratory experiments on the standard industrial hydraulic components.
引用
收藏
页数:6
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