Development of a Hydraulic-Dual Piezoelectric Hybrid Servo Force control System
Date Issued
2009
Date
2009
Author(s)
Chen, Yu-Lin
Abstract
The purpose of this thesis is to develop a hydraulic-dual piezoelectric hybrid force control system, in which the variable rotational speed hydraulic pump driving hydraulic cylinders combines dual-piezoelectric actuators force system. Due to the structure limit of the stack type piezoelectric actuator, the piezoelectric actuator allows big compression forces, but small tension forces and torque. The dual- piezoelectric force system developed in this paper makes the two piezoelectric actuators having only compression force for applying in bi-directional high loading condition. The hydraulic servo system serves to control force in coarse range and the dual-piezoelectric force control system works in fine range to reach control force accuracy. The control system contains dual-input and single output. For that, adaptive fuzzy controller with self-tuning fuzzy slide-mode compensation (AFT-STFSMC) is used to design the hydraulic force controller and the dual-piezoelectric force controller. To solve the coupling interaction between the two subsystems, a decoupling controller is added. The simulation and experiment results show that the proposed hydraulic-dual piezoelectric system can achieve 5 N accuracy with the steady state error within 0.7％ of the output. The hydraulic-dual piezoelectric hybrid force control system can perform better than the hydraulic system force control, both in transient response and steady-state error.
Subjects
hydraulic-dual piezoelectric hybrid system
variable rotational speed pump system
dual-piezoelectric actuator
adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation
force control
Type
thesis
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