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Tracking Control for High-Performance Motion of a Hydraulic Infinite Linear Actuator
Linköping University, Department of Management and Engineering, Fluid and Mechatronic Systems. Linköping University, Faculty of Science & Engineering. Linköping University, Department of Management and Engineering, Manufacturing Engineering.ORCID iD: 0000-0001-7598-8082
Linköping University, Department of Management and Engineering. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Management and Engineering, Fluid and Mechatronic Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-2315-0680
2018 (English)In: IEEE/ASME transactions on mechatronics, ISSN 1083-4435, E-ISSN 1941-014X, Vol. 23, no 6, p. 2782-2793Article in journal (Refereed) Published
Abstract [en]

The concept of the hydraulic infinite linear actuator consists of two double-acting cylinders with hydraulically detachable pistons driving a common rod. Alternatingly, one cylinder engages and drives the load, whereas the other retracts; the actuator, thus, works in a kind of rope-climbing motion. The actuator has three degrees of freedom, which are temporarily coupled compared with one in a conventional cylinder. Hence, the actuator is a hybrid system with both continuous and discrete states and control inputs. This paper presents a tracking control problem and a solution for high-performance motion, which is interpreted as utilizing the hardware limits in the sense of velocity, accuracy, smoothness, and usability. The concept is demonstrated by simulation for the case of a rest-to-rest motion, but the intended use cases also include arbitrary trajectories.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2018. Vol. 23, no 6, p. 2782-2793
Keywords [en]
Hybrid system; hydraulic servo system; infinite motion; linear hydraulic actuator; tracking problem
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-153684DOI: 10.1109/TMECH.2018.2871865ISI: 000453560200025Scopus ID: 2-s2.0-85054223956OAI: oai:DiVA.org:liu-153684DiVA, id: diva2:1276227
Available from: 2019-01-07 Created: 2019-01-07 Last updated: 2019-08-19

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Hochwallner, MartinPinto, LieKrus, Petter

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Fluid and Mechatronic SystemsFaculty of Science & EngineeringManufacturing EngineeringDepartment of Management and Engineering
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