This paper presents Particle Swarm Optimization (PSO) algorithm, Adaptive Weighted PSO (AWPSO) algorithm and Genetic Algorithm (GA) for determining the optimal Proportional-Integral-Derivative (PID) controller’s parameters of a position control for a typical Hydraulic Servo System (HSS). The performance indices, which have been used in the optimization, are Integral Absolute Error (IAE), Integral Square Error (ISE) and Integral Time Absolute Error (ITAE). The proposed controller is implemented on a simulation model of a real time hydraulic system to know the best method for tuning the controller. The PSO method yields better tuning in terms of settling time, maximum overshoot and undershoot. Compared to GA and AWPSO results, the PSO method has been noticed to be more efficient and robust in improving the step response of a position control for hydraulic systems. A mathematical model of a hydraulic servo-system is presented. This model includes the most relevant dynamic and non-linear effects. The model describes the behavior of a REXROTH servo valve and includes the nonlinearities of friction forces, valve dynamics, oil compressibility and load influence.
Hydraulic Servo Systems (HSS) play an important role in industrial field because they can produce high torque and large forces with high speeds. The hydraulic servo system applications include, manipulators, material test machines, fatigue testing, paper machines, ships, injection molding machines, robotics, and aircraft field. The dynamics of hydraulic systems are highly nonlinear due to directional change of valve opening, friction, etc. (Sohl and Bobrow, 1999). In hydraulic control systems, one of the main purposes of control is to achieve a desired and satisfactory response f...
... middle of paper ...
...g,” Computers and Chemical Engineering 26.6: 903-908
Saad, M. S., Jamaluddin, H., and Darus, I. Z. M., 2012, “Implementation of PID controller tuning using differential evolution and genetic algorithms,” International Journal of Innovative Computing Information And Control, 8(11), 7761-7779.
Sirouspour, Mohammad R., and S. E. Salcudean, 2000, “On the nonlinear control of hydraulic servo-systems,” InProceedings of the IEEE International Conference on Robotics and Automation ICRA'00. Vol. 2.
Sivanandam, S. N., Visalakshi, P., and Bhuvaneswari, A., 2007. Multiprocessor Scheduling Using Hybrid Particle Swarm Optimization with Dynamically Varying Inertia. IJCSA, 4(3), pp. 95-106.
Sohl, Garett A., and James E. Bobrow, (1999), “Experiments and simulations on the nonlinear control of a hydraulic servo system,” IEEE Transactions onControl Systems Technology, 7(2), pp. 238-247
The Wankel rotary engine named after the designer, Felix Wankel, was engineered in the early 1930’s. The rotary engine was unlike the conventional four stroke internal combustion engines and lacked the need for pistons, valves and camshafts. With only three moving parts involved in the design, this engine showed great promise in reliability and efficiency. The first Wankel rotary model was shown in 1960, not as an engine, but as a pump drive. Instead of the very complicated system involved in a conventional reciprocating piston engine, the wankel engine incorporated triangular “rotors” (see figure 1) that rotate within an epitrochoidal chamber around an eccentric shaft. Not only is this engine much more simple (only 3 moving parts rather
C. The cams and levers were not working so well, so they combined this idea with an electric-hydraulic-pneumatic approach.
Genetic Algorithms provide a holistic search process based on principles of natural genetics and survivals of the fittest……
Multiphase pumps find their applications in almost all types of oil fields in remote or isolated locations may it be onshore, offshore or at subsea conditions. In these circumstances reliability plays a major role on which multiphase phase pumps can be trusted upon.
Once the ECU has the torque value, the mass air flow control acts on the butterfly valve to reach the torque value (the open percentage of the butterfly valve and mass air flow value come from a table which is used as in the case of torque estimation).
BOSCH is one of the world's leading specialists in the field of drive and control technologies. Its core products are automotive components, industrial products and building products. BOSCH implements and applies the use of soft robots in its factories. BOSCH uses direct sales of components and spare parts to supply their customers for the various pieces of manufacturing equipment that they have in their plants in more than 80 countries in the technology fields Electric Drives and Controls, Industrial Hydraulics, Mobile Hydraulics, Linear Technology and Assembly Technol...
Koff, T., Matkovich, E., & McPhillips, K. (2004). Resistance, drag, and hydro-dynamics. Retrieved January 28, 2014, from http://www.unc.edu/~tarak/
The schematic diagram of an electro-hydraulic servo valve is illustrated in Fig. 1. This electro-hydraulic servo valve consists of two stages, first stage is double nozzle–flapper valve which consists of a toque motor, a flapper, two nozzles, and a feedback spring, and the second stage is a precision ground 4 way spools.
Keep cords and cables in one place with our Hollow Servo Motor, which is designed with a flange-mount hollow bore. It allows for media – power cables, pipes and hoses – to pass through the motor. The motor produces powerful torque and high stiffness with a low total weight, making it well suited for applications where the motor is also moving. It is ideal for industrial robots, machinery, machine tools, automatic assembly machines, converting and printing, handling equipment, and laser machine
For a rear wheel drive vehicle, the rear tires handle the engine dynamics while the front only needs to handle the steering forces. Figure 2, depicts the vehicle model schematic for a rear drive vehicle. The states of the model are x = [x y 〖 ]〗^T , where (x; y) are the centre point coordinates of the rear axle, is the heading angle of the car body with respect to the x-axis. In figure 2, the angle is the steering angle of the front wheels, and can be referred as a control input. The distance between the front and the rear axles is represented by l. The following mathematical model describes the kinematic relationship of the rear-wheel drive ground vehicle: [1]
Comparison of IMC controller & Self-Adaptive Fuzzy-PID Controller for Inverse Response of Boiler Drum Level
Abstract— Brushless direct current (BLDC) motor is a type of motor which is popular both in industry and automotive. In automotive, this motor is often used in electric vehicles (EV) due to its high efficiency so that the EV can save more energy to run. In this project, a control module of BLDC motor is designed to simulate the performance of the motor of an electric vehicle and simulate load on the motor due to a disturbance in the street as the effects of frictional forces and the contours of the road such as the downhill and uphill as a part of the electric vehicles testing simulator system. Therefore, control module of BLDC motor is divided into two sub-modules, namely test motor control sub module that simulates the performance of the
Hydraulic Crane can be used for loading and unloading of materials at heavy industries. They can also be used for the moving of heavy materials, that cannot be possible by a man to move. In early days cranes are used to run on steam engines in order to lift heavy objects but they were very difficult to use and construct, as it was very difficult to produce steam for the running of crane. So those were replaced by modern cranes that run on
The equations of motion form the basic building blocks for any system under consideration. These equations should be formulated as accurately as possible to model the desired system. The δinaccuracies in formulating these equations could result in faulty behaviour of the system which could be very difficult to understand. However, modern control systems are designed to accommodate model inaccuracies to a certain degree. It is very important to ensure that our model is modelled within this range. Errors could also enter the system during the calculation stage due to the precision and number of digits used to represent the values.
The operations of the robots have also advanced from simple hard-stop, one-function, hydraulic actuated robots to the more sophisticated, high-precision, servo controlled robots that can be reprogrammed to do many different jobs.