Professional Documents
Culture Documents
Proceedings
of
Proceedings of
2001 ASME
International
Mechanical
Engineering
Congress
and
Exposition
2001 ASME International Mechanical Engineering Congress and Exposition
November
11-16,
2001,
New
York,
NYNY
November
11-16,
2001,
New
York,
IMECE2001/DSC-24566
IMECE2001/DSC-2B-4
MOTION SYNCHRONIZATION FOR MULTI-CYLINDER
ELECTRO-HYDRAULIC SYSTEM
Hong Sun
500 McCarthy Blvd, Maxtor Inc.
Milpitas, California 95003
ABSTRACT
and l~i (or lpi) is the moment arm for f (i = 1,2,.-.n ) with
respect to rotational axis r (or axis p). Jr (or dp) represents the
rotational moment of inertia of the load about the axis r (or the
axis p) and 0r (or 0p ) represents the rotation angle about the
axis r (or the axis p). Ffri (or Ffpi) represents the friction force
between the load and cylinder along the direction of the axis r
(or the axis p).
In Figure 3, assuming that the distance between the
cylinders does not change during the motion of the load, the
points on the load that contact the cylinders vary with the
rotation of the load. Its motion depends on the rotation angle
0 r and 0p. We will not detail the relation between them
because we are only focusing on the vertical displacement and
the pitch as well as roll motion of the load. Further more, in the
assumption that the rotation angle is small, this motion can be
ignored.
SYSTEM MODELING
Consider a hydraulic system with n ram-type cylinders
acting to lift a common load, as shown in Figure 2. The top
view of the system is shown in Figure 3 that indicates the
location of the load. The load is free to rotate around the roll
axis r and the pitch axis p. The roll axis r is defined to be
perpendicular to the line connecting cylinder 1 to cylinder 2 and
the pitch axis p is defined to be parallel to the line connecting
cylinder 1 to cylinder 2. Together with one degree of freedom
of moving along the gravity direction, the hydraulic lift system
with 3 or more cylinders has 3 degrees of freedom (DOF) that
can be controlled. The lift system with 2 cylinders has 2 DOF
(without the pitch motion). In the following, we will derive the
system model for the lift system with 3 or more cylinders.
Figure 2 shows the forces acting on the hydraulic cylinders.
Spherical contact surfaces are assumed between the cylinders
and the load. From Newton's second law and the conservation
of angular momentum, the following equations can be obtained
to represent the motion of the load along gravity direction and
rotations about the axes r andp:
t=l
i=l
i=l
X3 ~ ~
Cylinder 3
rol~_Al= r
L~
il
Cylinder 2
CylJndela
(1)
i=l
i=l,2,...,n,
(2)
where Pi represents the pressure in the chamber of cylinder i
and A; represents the effective piston area. m~ represents the
Lff-M e =
MLi
R-Bpli L - f = mi L
where
1 ...
Lf = lrl
1]
['AI
)t ) p
m~g
-FII1
Xla
k~
b~
fl
V,(x,)
k 2 ...
k,])isthecontactstiffnessmatrix,
B, =diag([b,
b 2 ...
...
Bp, ]) is the
h(xi,~i)=-
K, =aiag([k,
cx,,
ML=diag([M
where
(5)
Ai2i,
Lrp=
#,/2 + ,ign(u,)(,Os/2- e, ) I .
r ,1]
lq lps]ld:p and
lr2 l.o:2
lr3 lp3
Note that if there are more than three cylinders in the system,
i.e. n>3, there will be redundant actuators in the system, i.e. the
matrix Lf is a non-square matrix with more columns than rows.
The solution for the synchronization of the lift system under
such condition will need to be considered.
L e t Mxq = (M L +Lfmg) e R 3x3, B~q = LfBDIg R 3x3,
and F = ( R - L ; M , )
f = [f
X a :[Xla
"'"
Xna]rand
X L =[X,
X2
"'"
Xn]" be
~ R "~' .
{Pii=h(xi,~i)..t_~Kqi~(xi,]~i)ui,,
the
i = 1,2,...,n.
(7)
Notice that the first part of Eq. (7) is linear EOM for rigid
body dynamics, and the nonlinearity of the system comes from
but more than three control inputs (when n>3), i.e. Fp R".
There are n-3 redundant actuations.
The design procedure for linear MIMO system will be
utilized to address the complexity due to the increased DOF as
well as the redundancy issue due to the increase of the number
of EH actuators. The uncertainty associated with the EH system
will be addressed with the perturbation observer design.
The motion synchronization control will be formulated to
generate the desired force or pressure profile for each of the n
actuators under a specific synchronization objective. Once the
desired force or pressure profile is obtained, a set of nonlinear
SISO force controllers will be employed to achieve the desired
force or pressure tracking.
CONTROL STRATEGY
A 2-step controller design approach is proposed that
employs a linear time-invariant MIMO robust motion
synchronization control to address the load uncertainty and
motion synchronization aspects of the problem in the outer
loop. A SISO perturbation observer-based nonlinear EH
force/pressure control is used for each individual cylinder to
address the nonlinearity and uncertainties associated with EH
systems in the inner loop. In a general n-post lift system, the
rigid-body motion dynamics described by Eq. (7) is a linear
MIMO system with load uncertainties from the force inputs F to
the position output Xq. In Eq. (7), the resultant force matrix F
comprises of the forces acting on the cylinders that include the
forces produced by the pressures in the cylinders (P.,Ai), the
friction forces (/7:) and the equivalent loads for each cylinder.
The facts that the load and its location are unknown and that the
frictional forces are difficult to model lead to uncertainties in
the resultant force matrix F. This problem can be solved since
the initial pressures P~o (i = 1,2,...,n ) of the corresponding
F:,'l
Ayp = b e ,
(9)
d t = A2P2o-m2g+F.t-2 +Mg2
Vp
(Lf)+F,,, + P t l t ,
where pt = ( i , ~ - L ; L r )
(10)
Eq. (7), the rigid body motion dynamics can be written as:
MxqXq + B x q i q = L r F p + L r d r
(8)
&Fp
AeLfF,~ , + A~pt~t = b e .
(11)
P = ( 4 P t ) + (b e -,4eL~Fr~)
Therefore,
Remark:
MR, +Bk~ = X 2
CONTROLLER DESIGN
Two-Step Design Approach
The controller will be synthesized through a two-step
design process using a linear MIMO motion synchronization
controller as the outer loop controller and a perturbation
observer based pressure controller as the inner loop controller.
Generally, a two-step design can be applied if a system has the
semi-strict-feedback form. Following example illustrate the
idea of the two-step design with actuator redundancy.
Given a system that is represented by the following
equations:
(15)
X3 = f ( X , , X 3) + g(X,, X3)U
MX +BX, = X 2
(14)
(12)
( 16)
Z3 = f ( X l , X3) + g(XI, X3) U - X3a
It is clear that a typical 2-step design approach can be
implemented. First assume Z3=0, the inner loop control law Xza
will be designed according to the first equation in Eq.(16).
Then the outer loop control law, i.e. the actual control law can
be design based on the second equation in Eq. (16). In other
words, Xzd, which can be treated as virtual control input,
together with actual control input U are designed such that the
whole system satisfies the desired performance requirements.
Now consider the situation where there are uncertainties in
L. The nominal value of L, denoted by L0, is used in obtaining
X3a from Xza using any approach discussed in the last section.
Therefore the relation Xza=L.Xaa will not be satisfied unless L=
L0. Suppose the way we choose X3a satisfies X3a=Pr'Xza for a
(13)
- x2d
The first step of design procedure can be explained as the
design of Xza in assumption Zz=0, i.e. Xz is the actual control
input. In the next step, the actual control U is designed to
stablize the Eq.(13).
In the general n-cylinder case, actuator redundancy
complicates the design process. Here an example will be used
Z 2 = L X 3 - Xzd
= LZ 3 + LX3d -
X2d
n i=1
n
= L Z 3 - ([ - LP~)X u
i=1
( 1 7)
Z3 ~--f ( X l , Xa) + g(Xl, X3)U - X3d "
Given uncertainty in the input matrix L, Eq. (17) will be
used to implement the two-step design approach. Note that
since the second step design will be based on Z3 dynamics,
Z3=0 is desirable to be the assumption instead of Z2=0 in the
first step design. The first loop control law Xzd is designed
according to the first equation in Eq. (17) under the assumption
Z3=0. Compared to the first equation in Eq. (16), we can see
that the input uncertainties LPr need to be considered in
designing Xzd. Note that LPr =L if L0=L. In the second step,
the actual control input U will be designed based on the Z3
dynamics. In sunlmary, for the system described by Eq. (14)
with uncertaintiy in L, the 2-step design will be proposed in this
way. First the Eq. (14) is converted into Eq. (17). Then a
typical 2-step design will be done based on Eq. (17). In other
words, the first loop virtual control law X2d and second loop
control law U have to be designed such that the system
represented by Eq. (17) is stable.
Now consider the lift dynamics described by Eq. (8).
Denote Fro as the desired resultant force of Fres=LfFp. Then the
motion synchronization design will be based on the following
equation with the assumption that Fp is the actual control input:
Mxqiq +Bxqi q = LfPrFrd +Lrd r +LfAaz
(18)
i=1
[x,]
1 ~ i_~1
1~,
.=
n
Z ailj,i
i=l
i=1
n
Or =Lrq(Lrp)-tx q =T-iXq,
k0 J
0 Y b/n Zb/,,
i=l
i=1
c~
where
T = Lrp (Lrq)-1.
y=X~q
where
l'r = T-1LrPr T ,
AA=diag([A ~ A2 . . . . 4 , ] ) .
and
/t
Xsq
For
convenience,
we
=EXsqt
Xsq Xn:l T
n
nl
xut-[Xsq
nl
and
will
further
denote
n2-1r
x,q
j . Equation (19)
Task-Space Coordinates
Task space for an n-cylinder system is complicated because
an n-cylinder system can have as many as n-1 independent
synchronization sub-objective. Recall Xq E R 3 . Only three
ix,,1
II
."
':l:l T
where
S,2
S13
$32
$33.]
G(s) =
t.
by
choosing
0
e = [s' e"
s "2]r
with
0 < s ~2 _<s n' < s t such that the following inequalities hold:
I X~q(S) I=1slid' +S,2 dn' +Si3 dn2 I<-- S t
y"'
y"2] r is considered
Denoting Pd = [pid
d can be
g3(s)
(20)
direction F = I Y '
g~(s)
emphasized
(23)
kS31
Vq,d(S)]
p d = ~o + Fpal A2
0
(25)
(21)
dn
Ae= d21
:
d.
...
dl.
b1
d22
...
:
d2,
: , be=
b2
k = - eo
Z
i = 1, 2,...,n,
= [ 'Xsq Xsq
"' Xsq
"21r E R'
The transformation from the physical coordinates to the task
space is given by:
(26)
where to and Kqio are the nominal value for the bulk modulus
fl
and
flow
coefficient
Kqi ,
respectively.
X. =
to
+'q,
to
-K.z,
, i = 1, 2,..., n ,(27)
where K,~ >0 are the design parameters which represents the
proportional feedback gain of the system, d~ are the estimated
perturbation which can be obtained from the following
equations:
I(#i -P~)dt, i = l , 2 , . . . , n ,
-'r, -'r,
Kq, o I _ ~ + s i g n ( u , ) ( _ ~ _ p ~ )
([i = k p ( # i - P i ) + k t
(-,-,-l,,-l,,)/2|10r I
%, +,
JLO,J'
c.
u, = V~(x~) V~(x,)
~(x,)
K ,ou,,le +sign(u,)(&_e,)+a,,
V 2
2
i = 1,2,...,n.
The details of the perturbation observer design and the
stability proof of the observer-based control design for a first
order system together with the stability of the combined system
with inner and outer loop control can be found in [10].
Fpd = ((Lfo) + -
+ eo
(28)
EXPERIMENTAL RESULTS
To verify the proposed control strategy, experiments were
performed on the prototype 4-post lift system at Herrick
Laboratories. Solenoid flow control valve was installed to
restrain the flow into cylinders and its bandwidth is about 1 to 2
Hz. Potentiometers with 0.2 in. resolution are used to measure
the position of the cylinders. In the proposed approach, full
state information is required. Since only the position and
pressure transducers are available, velocity information is
derived online from the measured position signal. To reduce
the effect of noise, low pass filters are used to filter out the high
frequency noise in the measured position signal. The desired
trajectory for the 4 cylinders in the experiments is a ramp signal
with 1.2 in./sec velocity.
Three scenarios are considered in the experiments: centered
loading, 15% off-centered load along the r axis and 15% offcentered load along the p axis, see Figure 6, which are defmed
as
Percentage off-center along r axis = 2d r / L2,
Percentage off-center alongp axis = 2dp /L~.
C~er 4
,o
Cyl~er 3
,o
Io
--1 ..........
L/2
i-
X .....
L=r~
Cylinder 2
CONCLUSION
In this paper, a two-step design approach is proposed for
general n-post lift systems. 4-post lifts are used as an example
to illustrate the effectiveness of the proposed approach. The
increase of the actuators introduced the actuator redundancy.
The two-loop design approach was introduced to this general
case by reformulating the motion synchronization part of the
design to incorporate additional design constrain to resolve the
redundancy issue.
Experimental results showed feasibility of the proposed
approach on a prototype 4-post lift with low cost flow control
valves and position sensors. The experimental results showed
that the controlled system can reduce the synchronization error
to the resolution of the position sensors and reduce system
sensitivity to load variations in value and location. Higher
performance can be expected with higher bandwidth valves and
higher resolution position measurement.
l-L,/2
I
I
'i"
L,r~
I
I
Cylinder 1
G(s)=diag([200
140s+1400
8000~s+l)])
REFERENCES
[1]
[2]
[3]
[5]
[6]
i
i
i
i
i
i
i
i
f
L
i
i
J
i
i
=
i
i
10
12
14
16
18
0.5
~~:
4)51
S y n c h r o n i z a t i o n b e t w e e n Cylinder 3 and 4
,
,
,
,
,
20
10
12
14
16
18
20
[7]
[8]
[9]
0s
! ! i ! ! i i i i
10
11me(see.)
12
14
16
18
20
Figure 7: S y n c h r o n i z a t i o n E r r o r w i t h C e n t e r e d Load
w i t h Lift S p e e d 1.2 in/sec.
Control Effort of V a i ~
2
"
[11] Sun, H., and Chiu, G. T.-C., 1999, "Motion Synchronization of Multiple Hydraulic Actuators," IMECE Fluid
Power Systems and Technology, FPST-Vol.6, pp. 147-154.
I "
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11
Copyright 2001 by A S M E