title: Nonlinear robust dual-loop control for electro-hydraulic load simulator.
abstract: This paper investigates on the high performance torque control of electro-hydraulic load simulator (EHLS). In order to suppress actuator's motion disturbance, a nonlinear robust dual-loop control scheme is developed, which consists of a open-loop nonlinear velocity feed-forward compensator and a closed-loop nonlinear deterministic robust torque controller. The main function of the open-loop compensator is to decouple actuator's active motion disturbance, whereas the torque loop controller aims at guaranteeing the dynamics performance of tracking torque reference. Besides actuator's motion disturbance, both the nonlinearity characteristics and friction problem of the EHLS system are taken into consideration in this paper. The effectiveness of the developed method are verified through comparative co-simulations and experiments.
authors.affiliation: Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China. Electronic address: cwwang@yeah.net.
authors.forename: Chengwen
authors.initials: C
authors.lastname: Wang
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Zongxia
authors.initials: Z
authors.lastname: Jiao
authors.affiliation: Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China.
authors.forename: Long
authors.initials: L
authors.lastname: Quan
keywords: Deterministic robust control; Dual-loop control; Electro-hydraulic load simulator; Friction identification; Nonlinear feed-forward compensator