Performance Investigation of Hydraulic Actuator Based Mass Lift System using MPC and LQR Controllers

A hydraulic actuator is a system that can provide a large power amplification in industries and factories. In this paper, mass lifter hydraulic actuator system to a desired displacement is designed using optimal control theory. MPC and LQR controllers are used to design and improve the performance of the hydraulic actuator. The hydraulic actuator system is linearized using Taylor series linearization method and designed using Matlab/Simulink tool. Comparison of the hydraulic actuator with MPC and LQR controllers using three desired output displacement signals (step, sine wave and white noise) is done and simulation results have been analyzed successfully. For the desired step input signal, the hydraulic actuator system with MPC controller lower rise and settling times with small percentage overshoot as compared to the hydraulic actuator system with LQR controller and for the desired sine wave signal, the hydraulic actuator system with MPC controller almost track the desired sine wave input signal correctly as compared to the hydraulic actuator system with LQR controller. While for the desired white noise input signal, the hydraulic actuator system with MPC controller have tried to track the desired white noise input signal with small variation in amplitude as compared to the hydraulic actuator system with LQR controller. Finally the comparative simulation results prove the effectiveness of the proposed hydraulic actuator system with MPC controller

Performance Investigation of Hydraulic Actuator Based Mass Lift System using MPC and LQR Controllers

A hydraulic actuator is a system that can provide a large power amplification in industries and factories. In this paper, mass lifter hydraulic actuator system to a desired displacement is designed using optimal control theory. MPC and LQR controllers are used to design and improve the performance of the hydraulic actuator. The hydraulic actuator system is linearized using Taylor series linearization method and designed using Matlab/Simulink tool. Comparison of the hydraulic actuator with MPC and LQR controllers using three desired output displacement signals (step, sine wave and white noise) is done and simulation results have been analyzed successfully. For the desired step input signal, the hydraulic actuator system with MPC controller lower rise and settling times with small percentage overshoot as compared to the hydraulic actuator system with LQR controller and for the desired sine wave signal, the hydraulic actuator system with MPC controller almost track the desired sine wave input signal correctly as compared to the hydraulic actuator system with LQR controller. While for the desired white noise input signal, the hydraulic actuator system with MPC controller have tried to track the desired white noise input signal with small variation in amplitude as compared to the hydraulic actuator system with LQR controller. Finally the comparative simulation results prove the effectiveness of the proposed hydraulic actuator system with MPC controller

Simulation of Tele-Operated Electro-Hydraulic Actuator and Excavator's Boom

This paper, we present our study called TeleOperated Hydraulic Actuator which implying the usage of remote-controlled hydraulic system to control a mini excavator from a distance. Mini excavator comprises several motion mechanisms such as of swing, boom, arm and bucket. Simulation on the tele-operated electro-hydraulic actuator on boom mechanism has been conducted. The entire hydraulic system is modeled and simulate by using MATLAB software. The simulation result is discussed and described in order to analyze several system characteristics, given a certain working condition, within the simulation perio

Simulated dynamic response of a servovalve controlled hydraulic actuator

A general purpose math model of a servovalve controlled hydraulic actuator system is derived. The system consists of a linear actuator with unequal piston areas, a single stage servovalve, a gas charged hydraulic accumulator, and the interconnecting piping. The state equations are integrated using the Advanced Continuous Simulation Language (ACSL) for determining the system's dynamic response characteristics. Using this generalized hydraulic actuator system model, response characteristics were determined for various servovalve commands

The Hydraulic Infinite Linear Actuator – properties relevant for control

Rotational hydraulic actuators, e.g. motors, provide infinite stroke as there is no conceptual limit to how far they can turn. By contrast linear hydraulic actuators like cylinders provide only limited stroke by concept. In the world of electrical drives, linear motors provide infinite stroke also for linear motion. In hydraulics, the presented Hydraulic Infinite Linear Actuator is a novelty. This paper presents the novel Hydraulic Infinite Linear Actuator (HILA). The contribution is an assessment of properties relevant for control like high hydraulic stiffness and is based on analysis, simulation and measurements

Adaptive Neuro Fuzzy Inference System control of active suspension system with actuator dynamics

A hybrid intelligent control technique based on combination of neural network and fuzzy logic will be proposed for hydraulic actuated active suspension system. A half car model will be used for design of Adaptive Neuro Fuzzy Inference System (ANFIS) controller for hydraulic actuated active suspension. The nonlinear behavior of hydraulic system and uncertain parameters in active suspension has increased the difficulty of creating mathematical model for active suspension system. The performance of most of the classical controller depends on nature of mathematical model of system. Hence it is very difficult to create classical controller without mathematical model of a system. Fuzzy logic controller has ability to predict the behavior of system without the need of mathematical model of a system. In this paper, ANFIS controller proposed for active suspension due to its ability to handle actuator dynamics and parameter uncertainty in hydraulic actuator. The simulation carried out for sinusoidal road profile in order to measure the performance of proposed controller. The result of simulation indicates performance of the ANFIS controller for active suspension with actuator dynamics

Návrh zkušebního stavu a testování integrovaného hydraulického aktuátoru

This report describes the design of the test rig for testing of the integrated actuator. The main component of the test rig is a holder to hold the hydraulic actuator in vertical position. A control algorithm for measurement of stiffness characteristics of spring using the integrated hydraulic actuator is proposed. The control algorithm will clearly explain the control process for controlling the valves. Using the control algorithm, simulation models of the integrated hydraulic actuator to test and measure the stiffness characteristics of the spring will be modelled. The obtained simulation results will be analysed and checked to see if it matches the working cycle of a spring testing machine. The practical implementation of the control algorithm will be discussed. The behaviour of the integrated hydraulic actuator in vertical position will be tested. The integrated hydraulic actuator placed in vertical position will also be tested for the working cycle. The obtained results will be analysed and future scope of the project will be discussed.Diplomová práce popisuje konstrukci zkušebního stavu na testovani integrovaného aktuátoru. hlavní součást stendu je rám, který drží hydraulický pohon ve svislé poloze. Je navržen řídicí algoritmus pro měření tuhosti pružin pomocí integrovaného hydraulického pohonu. Řídicí algoritmus detailně popisuje řízení hydraulických ventilů během testovacího cyklu. Pro navržený řídicí algoritmus jsou vytvořeny simulační modely integrovaného hydraulického pohonu pro testování a měření charakteristik tuhosti. Získané výsledky simulace jsou analyzovány a porovnány, zda se shodují s pracovním cyklem stroje na testování pružin. Dále je popsána praktická implementace řídicího algoritmu. Následně je testováno chování integrovaného hydraulického pohonu ve svislé poloze. Integrovaný hydraulický pohon umístěný ve svislé poloze je testován v průběhu pracovního cyklu měření tuhosti pružiny. Získané výsledky jsou analyzovány a je diskutován další směr řešení.352 - Katedra automatizační techniky a řízenívýborn

Effects of flux application and melting parameters in investment casting of pure aluminium by in-situ melting technique

Investment cast aluminium suffers porosity defect attributed to the complex combination of various factors including melt quality, casting process parameter and pouring technique. Even though, melt treatment and controlled of the process parameter have promising result, however turbulence developed during pouring of molten aluminium increasing the formation of porosity as a result of the entrainment of the surface oxide (Al2O3) film known as bifilm. Currently, turbulence free filling system was applied in casting process using tilt casting, bottom filling integrated with low pressure and also in-situ casting or in-situ melting techniques to address the porosity problem. However, in-situ melting technique has not been studied to reduce the porosity of the investment cast aluminium due to the oxidation of the granular aluminium occurs during heating hinders the complete melting of the granules. This research develops a procedure for investment casting of aluminium granules of 99.4% purity by in-situ melting technique. The aluminium granules were filled in ceramic moulds and heated at four different temperatures of 700, 750, 800 and 850oC for 30 and 60 min in a high temperature muffle furnace in ambient. As the heating temperature and duration were increased, the aluminium granules incompletely melt and produced a casting, however the granules agglomerate and replicate the shape of the ceramic mould. The aluminium granules oxidised during heating, encapsulated by a layer of complex oxides composed of stable [α-Al2O3], metastable [γ-Al2O3] and hydroxides. The thickness of the oxide layer formed on the surface of the air-heated granules increased as the heating temperature and duration were increased. The aluminium granules then were heated at the temperature of 850oC for 30 min in argon environment at the flow rate of argon gas 0.5, 2.5 and 5 l/min to reduce the oxidation of the aluminium granules. The thickness of the oxide layer formed on the argon-heated granule (5 l/min) was reduced by 60%, but failed to produce a casting. NaCl-KCl flux was applied, which was mixed and sprinkled on the aluminium granules at the Al:Flux ratio of 1:0.2, 1:0.25 and 1:0.33 and heated at the temperature of 850oC for 30 min to break the oxide layer that encapsulate the granules during heating. At the Al:Flux ratio of 1:0.33, 99% of the aluminium granules were successfully melted and produced a casting. The granules began melting at the temperature range 657.2 to 658.4oC and completely melted in 16 min with final melting temperature between 660.1 and 660.6oC. The average porosity level of the casting was 1.22%, which is lower than the investment cast aluminium produced by current pouring technique (2.48%). The low porosity level was attributed to micro-intergranular porosity present in the casting due to volume shrinkage. Investment casting of aluminium granules by in-situ melting technique with application of NaCl-KCl flux at the Al:Flux ratio of 1:0.33 mixed and sprinkled on the granules heated at the temperature of 850oC for 30 min producing low porosity aluminium casting

A closed circuit electro-hydraulic actuator with energy recuperation capability

The recent electrification trend in the off-road market has incentivized research towards the proposal of compact, cost-effective and energy-efficient solutions for hydraulic actuators. As a result, increased attention has been given to electro-hydraulic actuator (EHA) architectures. The paper offers a study performed on a novel closed-circuit EHA architecture with the goal to maximize the overall system efficiency while meeting or exceeding traditional off-road applications performance, thereby enabling further electrification of off-road applications. Both numerical and experimental approaches are utilized to validate the functionality of the proposed EHA circuital configuration in four quadrants. Moreover, the actuator functionality at both high and low velocities are considered, which has never been explored in the past due to the limitations on the hydraulic machine driving speed. The good match between the experimental data and the simulation results confirms the potential of the simulation model for sizing such EHA architecture for different actuator sizes, duty cycles, and performance levels

H ∞ and μ-synthesis Design of Quarter Car Active Suspension System

To improve the street managing and passenger comfort of a vehicle, a suspension system is furnished. An active suspension device is considered to be better than the passive suspension device. In this paper, 2 degree of freedom of an active suspension system of a linear vehicle are designed, that's challenge to oneof-a-kind disturbances on the road. Since the parametric uncertainty inside the spring, the shock absorber, the mass and the actuator has been taken into consideration, robust control is used. In this paper, H∞ and µ-synthesis controllers are used to enhance using consolation and the capability to force the car on the road. For the analysis of the time domain, a MATLAB script software become used and a check with 4 road disturbance inputs (bump, random, sinusoidal and harmonic) became carried out for suspension deflection, body acceleration and travel of the body for the energetic suspension with the H∞ controller and the active suspension with the µ-synthesis controller and the comparative simulation and the reference consequences display the effectiveness of the active suspension system with the µ-synthesis controller