Hydraulic actuation of multi-body structures through large-scale motions. Part 2: controller design and performance

Reference:

Branson, D. T., Keogh, P. S. and Tilley, D. G., 2008. Hydraulic actuation of multi-body structures through large-scale motions. Part 2: controller design and performance. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 222 (3), pp. 365-375.

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Abstract

This paper addresses a controller design methodology for the hydraulic actuation of non-linear multi-body systems. It takes account of system uncertainties, envisaged system changes through added mass, positioning speed requirements, and vibration control. A mathematical model developed in the companion paper, Part 1, describes an experimental multibody structure that is actuated by a hydraulic system. It is used to generate H-infinity-based position and active vibration controllers to meet the actuation requirements at the design stage. Experimental tests were undertaken with the developed H-infinity controllers to demonstrate their accuracy and stability of motion control. The results are compared to 'base level' tests completed using a more traditional proportional-integral (PI) controller. In contrast with the instability experienced using PI control, the design process associated with the H-infinity controllers ensures accurate closed loop stability over the range of system variations.

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