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Andreas Kugi, Wolfgang Kemmetmüller
Control of Adaptronic Systems, Part II: Electrorheological Actuators
Keywords: electrorheological actuator, high-dynamic hydraulic drive, electrorheological valve, Nonlinear control
The second part of this contribution is concerned with an electrorheological (ER) actuator comprising a double-rod cylinder which is located in the cross path of a full-bridge consisting of four ER valves. The objective of the controller design is to track fast trajectories of the piston position by utilizing the rapid response time in the order of a few milliseconds of the ER effect. Compared to conventional hydraulic actuators this configuration provides more control inputs. In this work we will show, how we can exploit this additional number of control inputs within the controller design in order to optimize the performance of the closed-loop system by also considering the restrictions of the system. The control structure is composed of a cascaded flatness-based pressure and position controller in combination with a stabilizing feedback for the average supply pressure. Simulation results prove the excellent performance of the proposed control concept.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 54, 07/2006
Pages: 334 - 341