Parameter tuning of sliding mode controller using multi-objective particle swarm optimization in electro-hydraulic actuator system

Electro-Hydraulic Actuator (EHA) system is very popular and widely applied in the modern industry applications. This is because of its advantages on the high force to weight ratio, accurate positioning with fast motion and capability in generating large torque. Due to its increasing trends in modern applications, the research to control the EHA system has attract the attentions of many researchers around the world. However, the nonlinear characteristics in the dynamics of the EHA system such as internal leakage have make it difficult to control and hard to produce an accurate output such as position, force, and speed that are required in different applications. Internal leakage existed in the servo valve can degrade the overall performance of the EHA system. Commonly, a control system either open-loop or closed-loop is the key to overcome the aforementioned issue, where researchers had proposed many types of control strategies across the years ranging from classical to advanced controller to control the nonlinear EHA system so that it can suit into different industry applications. In this research, Sliding Mode Controller (SMC) is designed and proposed for the positioning control of the established EHA system. To obtain the optimum performance of the EHA system, Multi-Objective Particle Swarm Optimization (MOPSO) is implemented to the SMC to achieve the highest position output performance with least overshoot and steady-state error. In order to verify the effectiveness of the proposed SMC with MOPSO strategy, comparison study has been implemented to Proportional Integral Derivative (PID) and SMC controllers with conventional Particle Swarm Optimization (PSO) technique. The simulation results show that the proposed control strategy is able to improve the overshoot percentage of the EHA system by 99.78% and 99.64% as compared to the PSO-PID controller and PSO-SMC respectively. Robustness tests show the proposed control strategy achieved least overshoot percentage in all simulation case studies including the mass, pressure and internal leakage variations

Optimization Techniques In PID Controller On A Nonlinear Electro-Hydraulic Actuator System

The controller is an important component in the nonlinear control system, especially for the system that needs accuracy in position tracking. Electro-Hydraulic Actuator (EHA) system i s a popular nonlinear system that is used by researchers. Proportional- Integral-Derivative (PID) controller is the most popular controller that is normally used in the industry. This i s mainly because of i ts simplicity in the design process. However, there are three constants that need to be assigned in the PID controller, often we called thi s as the parameters s election process or the PID tuning process. In this paper, a comparison s tudy for the selection process of the PID parameters process will be conducted among Ziegler-Nichols tuning method, conventional Particle Swarm Optimization (PSO) technique and Priority-based Fitness Particle Swarm Optimization (PFPSO) technique. PFPSO is one of the improved versions of the conventional PSO technique. The s imulation study wi ll be conducted on a nonlinear Electro-Hydraulic Actuator (EHA) system. A simple robustness test on the PID controller will be evaluated in terms of actuator internal leakage. Results showed that the PID performed better whe n its controller's parameters are selected using PFPSO technique rather than the Ziegler-Nichols method and conventional PSO technique

Chattering Analysis of an Optimized Sliding Mode Controller for an Electro-Hydraulic Actuator System

Wear and tear are usually caused by various factors, which reduce the life span of a mechanical part. In the control engineering of an Electrohydraulic actuator system, the wear and tear can be caused by the system or the controller itself. This article examines the chattering effect that occurs during the sliding mode controller (SMC) design, and its effect on the nonlinear electrohydraulic actuator (EHA) system. To examine the chattering phenomenon, signum function is first applied on the switching function of the SMC. Then, parameters of the controller are obtained using single objective particle swarm optimization (PSO) method. These parameters are then applied to the switching function with hyperbolic tangent function. Lastly, the performance of both functions is analysed and compared based on graph and numerical data. From the output data, chattering phenomenon generated on the signum function is greatly eliminated by using hyperbolic tangent function

Performance Analysis of Position Tracking Control With PID Controller Using An Improved Optimization Technique

An Electro-Hydraulic Actuator (EHA) system is usually utilized in production industry such as automotive industry which requires precision, high force and long operating hours. When dealing with the production of engineering parts that require precision, high force and long operating hours, a controller is usually required. It is observed from the literature, an appropriate tuning technique is essential in order to obtain optimal controller’s performance. Therefore, a computational tuning technique, namely Priority-based Fitness Particle Swarm Optimization (PFPSO) is proposed to obtain the parameters of the Proportional-Integral-Derivative (PID) controller in this paper. The performance of the EHA system will be evaluated and compared based on the priority characters of the PFPSO tuning technique, which included settling time and overshoot percentage that affect the output results of the EHA system. As a result, it is observed that the priority based on settling time produced a better result, which enhances the steady-state performance of the EHA system that fulfills the requirement of the precision contro

Position Tracking Performance for ElectroHydraulic Actuator System With The Presence of Actuator Internal Leakage

Electro-hydraulic actuator (EHA) system is known as one of the highly nonlinear systems due to its parameters uncertainties. Many types of robust controller had been studied and proposed to control the nonlinear EHA system. Different parameters uncertainties test is needed in the procedure to evaluate the controller robustness. In this paper, the effect of the actuator internal leakage to the output actuator displacement is studied. The actuator output displacement is analyzed using Root Mean Square Error (RMSE) by means of giving sinusoidal input reference. The results show that as the actuator internal leakage increases, the RMSE will increase and the actuator will start to vibrate orshow damping characteristics

An electro-hydraulic servo with intelligent control strategy

Versatile engineering applications have been developed to assist, reduce, and avoid human being from any heavy or harmful manufacturing processes. The gradually increased demand in force and position controls have simultaneously increased the usage of Electro-Hydraulic Servo (EHS) system. However, the time varying characteristics such as high-speed, outburst starting and stopping dynamic have led the EHS system to suffer from uncertainties and nonlinearities effects. Therefore, in order to enhance the performance of an EHS to surmount the uncertain and nonlinear effects, a hybrid Fuzzy-PID control strategy is developed which particularly improve the accuracy of the system by enhancing the control performance during the positioning tracking. By measuring the performance of the proposed control approach, the transient response and steady-state analysis will be performed which taking linear and intelligent control strategies as the references in the assessment process. The finding indicates the capability of a hybrid Fuzzy-PID controller in reducing the control effort applied to the EHS system

Comparison Of Fractional Order PID Controller And Sliding Mode Controller With Computational Tuning Algorithm

The industry processes involving punching, lifting, and digging usually require high precision, high force and long operating hours that increase the prestige in the usage of the electrohydraulic actuator (EHA) system. These processes with the companion of the EHA system usually possess high dynamic complexities that are hard to be controlled and require well-designed and powerful control system. Therefore, this paper will involve the examination of the designed controllers which is applied to the EHA system. Firstly, the conventional proportional-integral-derivative (PID) controller which is the famous controller in the industry is designed. Then, the improved PID controller, which is known as the fractional order PID (FO-PID) controller is designed. After that, the design of the gradually famous robust controller in the education field, which is the sliding mode controller (SMC) is performed. Since the controller’s parameters are essentially influencing the performance of the controller, the meta-heuristic optimization method, which is the particle swarm optimization (PSO) tuning method is applied. The variation in the system’s parameter is applied to evaluate the performance of the designed controllers. Referring to the outcome analysis, the increment of 59.3% is obtained in the comparison between PID and FOPID, while the increment of 67.13% is obtained in the comparison of the PID with the SMC controller. As a conclusion, all of the controllers perform differently associated with their own advantages and disadvantag

Transient analysis of an optimized robust controller in a hydraulic system

An electro-hydraulic actuator (EHA) system is a prevalent mechanism in industrial sectors that required high force such as steel, automotive and aerospace industries. It is a challenging task to acquire precision when dealing with a system that can produce high force. Besides, since most of the mechanical actuator performance varies with time, it is even difficult to ensure its robustness characteristic towards time. Therefore, this paper proposed the industrial’s well-known controller, which is the proportional-integral-derivative (PID) controller that can improve the precision and the robustness or the EHA system. Then, an enhanced PID controller, which is the fractional order PID (FOPID) controller will be applied. Both controllers are optimized using particle swarm optimization (PSO) algorithm. Then, this paper will focus to analyse the transient response performance of both controllers through the step and multiple-step response. As a result, it is observed that the precision and robustness characteristic of the FOPID is greater than the PID controller

Transient Analysis Of An Optimized Robust Controller In A Hydraulic System

An electro-hydraulic actuator (EHA) system is a prevalent mechanism in industrial sectors that required high force such as steel, automotive and aerospace industries. It is a challenging task to acquire precision when dealing with a system that can produce high force. Besides, since most of the mechanical actuator performance varies with time, it is even difficult to ensure its robustness characteristic towards time. Therefore, this paper proposed the industrial’s well-known controller, which is the proportional-integral-derivative (PID) controller that can improve the precision and the robustness or the EHA system. Then, an enhanced PID controller, which is the fractional order PID (FOPID) controller will be applied. Both controllers are optimized using particle swarm optimization (PSO) algorithm. Then, this paper will focus to analyse the transient response performance of both controllers through the step and multiple-step response. As a result, it is observed that the precision and robustness characteristic of the FOPID is greater than the PID controller

An Electro-Hydraulic Servo with Intelligent Control Strategy

Versatile engineering applications have been developed to assist, reduce, and avoid human being from any heavy or harmful manufacturing processes. The gradually increased demand in force and position controls have simultaneously increased the usage of Electro-Hydraulic Servo (EHS) system. However, the time varying characteristics such as high-speed, outburst starting and stopping dynamic have led the EHS system to suffer from uncertainties and nonlinearities effects. Therefore, in order to enhance the performance of an EHS to surmount the uncertain and nonlinear effects, a hybrid Fuzzy-PID control strategy is developed which particularly improve the accuracy of the system by enhancing the control performance during the positioning tracking. By measuring the performance of the proposed control approach, the transient response and steady-state analysis will be performed which taking linear and intelligent control strategies as the references in the assessment process. The finding indicates the capability of a hybrid Fuzzy-PID controller in reducing the control effort applied to the EHS system