TY - GEN
T1 - Optimal control for EHA-VPVM system based on feedback linearization theory
AU - Zhang, Ye
AU - Fu, Yongling
AU - Zhou, Weixing
PY - 2010
Y1 - 2010
N2 - In this paper, an optimal control method based on feedback linearization is proposed for EHA-VPVM (electrohydrostatic actuator with variable pump displacement and variable motor speed) system, which is a dual-input single-output (DISO) nonlinear system with multiplicative nonlinear property. In this work, a real EHA-VPVM system is modeled at first. Then the nonlinear model is linearized through feedback linearization and a control method is designed by using optimal control theory based on the linearized model. Simulation results show that our control method is effective for EHA-VPVM position control system, and can suppress perturbation of external load force to some degree. In addition, by simply adjusting the weighting coefficients of the displacement and the rotational speed of pump, this method can meet the different requirements on dynamic response and energy loss of system.
AB - In this paper, an optimal control method based on feedback linearization is proposed for EHA-VPVM (electrohydrostatic actuator with variable pump displacement and variable motor speed) system, which is a dual-input single-output (DISO) nonlinear system with multiplicative nonlinear property. In this work, a real EHA-VPVM system is modeled at first. Then the nonlinear model is linearized through feedback linearization and a control method is designed by using optimal control theory based on the linearized model. Simulation results show that our control method is effective for EHA-VPVM position control system, and can suppress perturbation of external load force to some degree. In addition, by simply adjusting the weighting coefficients of the displacement and the rotational speed of pump, this method can meet the different requirements on dynamic response and energy loss of system.
KW - EHA-VPVM
KW - Feedback linearization
KW - Multiplicative nonlinear
KW - Optimal control
UR - https://www.scopus.com/pages/publications/79952392095
U2 - 10.1109/ICARCV.2010.5707815
DO - 10.1109/ICARCV.2010.5707815
M3 - 会议稿件
AN - SCOPUS:79952392095
SN - 9781424478132
T3 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
SP - 744
EP - 749
BT - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
T2 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Y2 - 7 December 2010 through 10 December 2010
ER -