TY - GEN
T1 - Approximate feedback linearization control for high precision hydraulic parallel machine tool
AU - Yang, Chifu
AU - Zheng, Shutao
AU - Peter, O. O.
AU - Han, Junwei
PY - 2011
Y1 - 2011
N2 - Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to complex dynamics of plant. In order to improve the tracking performance of hydraulic parallel machine tool and limit the drawbacks of TFL, a novel approximate feedback linearization approach is proposed in this paper. The mathematical models of hydraulic parallel machine tool are established using Kane method and hydromechanics. The approximate feedback linearization control is designed for the parallel machine tool in joint space, with the position and the stored data in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is readily and effective to realize path tracking, it exhibits excellent performance and high efficiency without a precision dynamics of plant. Moreover, the presented algorithm is well suitable for most industrial applications.
AB - Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to complex dynamics of plant. In order to improve the tracking performance of hydraulic parallel machine tool and limit the drawbacks of TFL, a novel approximate feedback linearization approach is proposed in this paper. The mathematical models of hydraulic parallel machine tool are established using Kane method and hydromechanics. The approximate feedback linearization control is designed for the parallel machine tool in joint space, with the position and the stored data in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is readily and effective to realize path tracking, it exhibits excellent performance and high efficiency without a precision dynamics of plant. Moreover, the presented algorithm is well suitable for most industrial applications.
KW - Feedback linearization
KW - Hydraulic system
KW - Parallel machine tool
KW - Path tracking
UR - http://www.scopus.com/inward/record.url?scp=78650673830&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMR.148-149.126
DO - 10.4028/www.scientific.net/AMR.148-149.126
M3 - 会议稿件
AN - SCOPUS:78650673830
SN - 9780878492015
T3 - Advanced Materials Research
SP - 126
EP - 129
BT - Manufacturing Processes and Systems
T2 - 2010 International Conference on Advances in Materials and Manufacturing Processes, ICAMMP 2010
Y2 - 6 November 2010 through 8 November 2010
ER -