Tracking Control for an Electro-Hydraulic Rotary Actuator Using Fractional Order Fuzzy PID Controller

Electronics

Duc Thien Tran¹  Tri Cuong Do¹  Kyoung Kwan Ahn¹  Truong Quang Dinh² 

[1] School of Mechanical Engineering, University of Ulsan, 93, Deahak-ro, Nam-gu, Ulsan 44610, Korea;Warwick Manufacturing Group (WMG), University of Warwick, Coventry CV4 7AL, UK;

关键词: hydraulic system;    electro-hydraulic actuator;    fractional order PID;    fuzzy logic system;   

DOI  :  10.3390/electronics9060926

来源: DOAJ

【 摘 要 】

This paper presents a strategy for a fractional order fuzzy proportional integral derivative controller (FOFPID) controller for trajectory-tracking control of an electro-hydraulic rotary actuator (EHRA) under variant working requirements. The proposed controller is based on a combination of a fractional order PID (FOPID) controller and a fuzzy logic system. In detail, the FOPID with extension from the integer order to non-integer order of integral and derivative functions helps to improve tracking, robustness and stability of the control system. A fuzzy logic control system is designed to adjust the FOPID parameters according to time-variant working conditions. To evaluate the proposed controller, co-simulations (using AMESim and MATLAB) and real-time experiments have been conducted. The results show the effectiveness of the proposed approach compared to other typical controllers.

【 授权许可】

Unknown