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ISA Trans

Title:		Parameters identification and trajectory control for a hydraulic system
Author(s):		Feng H; Yin C; Ma W; Yu H; Cao D;
Address:		"United Institute of Excavator Key Technology, Nanjing Tech University, Nanjing 211816, China; Institute of Automobile and Construction Machinery, Nanjing Tech University, Nanjing 211816, China. United Institute of Excavator Key Technology, Nanjing Tech University, Nanjing 211816, China; Institute of Automobile and Construction Machinery, Nanjing Tech University, Nanjing 211816, China. Electronic address: yinchenbo@njtech.edu.cn. United Institute of Excavator Key Technology, Nanjing Tech University, Nanjing 211816, China; SANY Group Co., Ltd., Suzhou 215300, China"
Journal Title:		ISA Trans
Year:		2019
Volume:		20190223
Issue:
Page Number:		228 - 240
DOI:		10.1016/j.isatra.2019.02.022
ISSN/ISBN:		1879-2022 (Electronic) 0019-0578 (Linking)
Abstract:		"In order to improve the tracking accuracy of a hydraulic system, an improved ant colony optimization algorithm (IACO) is proposed to optimize the values of proportional-integral-derivative (PID) controller. In addition, this paper presents an experimental study on the parameters identification to deduce accurate numerical values of the hydraulic system, which also determines the relationship between control signal and output displacement. Firstly, the basic principle of the hydraulic system and the mathematical model of the electro-hydraulic proportional control system are analyzed. Based on the theoretical models, the transfer function of the control system is obtained by recursive least square identification method (RLS). Then, the key parameters of the control system model are obtained. Some improvements are proposed to avoid premature convergence and slow convergence rate of ACO: the transition probability is revised based adjacent search mechanism, dynamic pheromone evaporation coefficient adjustment strategy is adopted, pheromone update rule and parameters optimization range are also improved. Then the proposed IACO tuning based PID controller and the identification parameters are modeled and simulated using MATLAB/Simulink and AMESim co-simulation platform. Comparisons of IACO, standard ACO and Ziegler-Nichols (Z-N)PID controllers are carried out with different references as step signal and sinusoidal wave using the co-simulation platform. The simulation results of the bucket system using the proposed controller demonstrates improved settling time, rise time and the convergence speed with a new objective function J. Finally, experiments with leveling operations are performed on a 23 ton robotic excavator. The experimental results show that the proposed controller improves the trajectory accuracy of the leveling operation by 28% in comparison to the standard ACO-PID controller"
Keywords:		Ant colony optimization algorithm Pid Parameters identification Recursive least square method Robotic excavator Trajectory control;
Notes:		"PubMed-not-MEDLINEFeng, Hao Yin, Chenbo Ma, Wei Yu, Hongfu Cao, Donghui eng 2019/03/05 ISA Trans. 2019 Sep; 92:228-240. doi: 10.1016/j.isatra.2019.02.022. Epub 2019 Feb 23"