This book covers the fundamental concepts of electrohydraulic (EH) servo systems in detail and also presents the developments about power, quadratic response, and control flexibility of EH servo systems with applications in aircraft/aerospace engineering, mobile equipment, material/structure testing, motion simulators, and strategic defense sectors. Various topics covered in this books are systems and configurations of servo systems, components, applications, design of SISO and MIMO and control options of SISO and MIMO systems. It further includes a chapter on contamination control, fault detection and diagnosis (FDD) of these systems. The detailed working procedures and advice on implementation routines presented in this book will help readers to apply the control models and systems presented so as to make their own servo systems more efficient. The book will be useful for mechanical engineers and professionals involved in the analysis and design of electrohydraulic control systems, especially in advanced hydraulic industries, the aeronautical and space, and automotive industries. It would also be a useful reference for advanced courses in EH systems.
Author(s): D. R. Raghavendra
Series: Springer Tracts in Mechanical Engineering
Publisher: Springer
Year: 2023
Language: English
Pages: 276
City: Singapore
Foreword I
Foreword II
Message from Dr. G. Satheesh Reddy
Preface
Acknowledgements
Contents
About the Author
Acronyms
1 EH Servo System Configurations
1.1 Taxonomy of Servo Systems
1.2 Valve Control
1.2.1 Linear Position
1.2.2 Force Control
1.2.3 Pressure Control
1.3 Hydrostatic Drives
1.4 EHSA Drives
1.5 IM Valves
1.6 EHSA with IM Valves
References
2 EH Servo System Components
2.1 Electrohydraulic Servo Systems (EHSS)
2.2 Servo Valves and Servo Proportional Valves
2.2.1 Torque Motor-Driven Servo Valves
2.2.2 Performance
2.2.3 Efficiency
2.2.4 3-Stage Servo Valves
2.3 Servo Proportional Valves (VCD)
2.4 Piezo-Based Servo Valves
2.5 Proportional Valves
2.5.1 Proportional Direction Control
2.5.2 Pressure Control
2.5.3 Flow Control Valves
2.6 IM Valves
2.7 Linear Servo Actuators
2.8 Servo Drive Packages
2.9 EHSA Drive Packages
2.10 High-Power Servo Motor-Driven Pumps
2.11 Transducers
2.11.1 Linear Position
2.11.2 Load Cells
2.11.3 Pressure Transducers
2.11.4 Rotary Position
2.11.5 Rotary Speed
2.11.6 Other Sensors
2.11.7 Torque Transducers
2.12 Command Generators
2.13 Controllers
References
3 Applications of EH Servo Systems
3.1 Manufacturing
3.1.1 Friction Welding
3.1.2 Injection Molding
3.1.3 Blow Molding
3.1.4 Globoidal Cam Fixture
3.1.5 EHSA Hydraulic Press
3.2 Mobile Earthmoving
3.2.1 Forestry Cranes
3.2.2 Hydrostatic Drives
3.2.3 Power Steering
3.3 Motion Simulators
3.3.1 Sea State Simulator
3.3.2 EHSA Flight Simulator
3.3.3 Automobile 4-Posters
3.3.4 Twist Rig
3.4 Material and Structure Test Rigs
3.4.1 Landing Gear Actuators Test Rig
3.4.2 5-Axis Ball Joint Test Rig
3.4.3 3-Axis Steering Gear Test Rig
3.4.4 Aircraft Landing Shock Absorber Test Rig
3.4.5 Fatigue Test on Insulators
3.4.6 EH Force Exciters
3.5 Vibration Exciters
3.5.1 Vibration Table
3.5.2 Seismic Simulators
3.6 Material Handling
3.6.1 300-Ton Critical Mass
3.6.2 Cranes, Loaders, Hoists
3.7 Marine
3.7.1 Winches
3.7.2 Rudder Control
3.7.3 Ship Stabilizers
3.8 Defense
3.8.1 Track Drive
3.8.2 Weapon Control System
3.8.3 Missiles
3.8.4 Missile Launchers
3.9 Aircraft, Aerospace
3.9.1 Primary Flying Controls
3.9.2 Secondary Flying Controls
3.9.3 Blisk Manufacture
3.9.4 Aerospace
3.10 Hydraulic Robots
3.10.1 Tele Robots
3.10.2 Humanoid Robot
3.10.3 HyQ Quadruped Robot
3.10.4 The Slingsby TA 9
3.10.5 Power of Hydraulic Robots
3.11 Others
3.11.1 Wind Tunnel Flexible Nozzles
3.11.2 Random Sea Wave Generator
3.11.3 Tuned Mass Dampers
3.11.4 Wind Energy Harvesting
3.11.5 ADAS, Theme Parks
3.11.6 Prosthesis Ankle
References
4 Design of SISO EH Servo Systems
4.1 Valve-Controlled Position Servo
4.1.1 Main Specifications
4.1.2 Design Methodology
4.1.3 Load Locus
4.1.4 System Performance Estimation
4.1.5 Methods to Improve the Damping Factor
4.2 Rotary Position Control
4.3 Force Control Systems
4.4 Bench Testing
References
5 Control of SISO EH Servo Systems
5.1 General
5.2 Challenges
5.3 Control Design
5.4 Position Control
5.5 Cascade Control
5.6 Three Variable Motion Control
5.7 LQG Control
5.8 Adaptive Control Methods
5.8.1 Model-Based Adaptive Control
5.9 Nonlinear State Variable Feedback
5.9.1 Nonlinear Adaptive Robust Controller (NARC)
5.10 Wind Energy Harvesting
5.10.1 Pitch Servo System
5.10.2 Torque and Pitch Control
5.11 Self Tuning PID
5.12 H2/H∞ Control, Disturbance Observers
5.12.1 LQG, H∞ Comparison
5.12.2 Disturbance Observers
5.12.3 Use of Two Disturbance Observers
5.13 Variable Structure Control
5.13.1 SMC Application 1
5.13.2 SMC Application 2
5.13.3 SMC Application 3
5.14 Intelligent Control
5.14.1 Fuzzy PID
5.14.2 Self-learning Adaptive Fuzzy Controller
5.14.3 Fuzzy PID Control of the Hydraulic Crane
5.14.4 Artificial Neural Networks
5.14.5 ANN for Active Suspension of Automobiles
5.14.6 Intelligent Neural Network
5.14.7 Iterative Learning Control (ILC)
References
6 Design of MIMO EH Servo Systems
6.1 General
6.2 Parallel Kinematics
6.3 Serial Kinematics
6.4 SMISMO-Based Design of the Hydraulic Crane
References
7 Control Options—MIMO
7.1 Coupling in MIMO Systems
7.2 Back-to-Back Actuator Test Setup
7.3 Experimental Study of 2 DOF Decoupling
7.4 Hot Strip Rolling Mill
7.5 Automotive Axle Test Rig
7.6 Tracked Vehicle
7.7 MIMO Controls
7.7.1 Free Space
7.7.2 MIMO Controls for Tracking in Constrained Space
7.8 Control of Parallel Manipulators
7.8.1 Cascade Control
7.8.2 Observer-Based Cascade Control
7.8.3 Cascade with SMC
7.8.4 Hybrid Position/Force Control
7.8.5 Model Predictive Control (MPC)
7.8.6 Coordinate Transformation Framework
7.9 Centralized Versus Decentralized MIMO Controllers
References
8 Fault-Tolerant Hydraulic Systems
8.1 General
8.2 Contamination Control
8.3 Fault Diagnosis
8.4 Model-Based FDD
8.4.1 Parameter Estimation-Based FDD
8.4.2 Observer-Based FDD
8.4.3 Parity-Based FDD
8.5 Signal-Based Methods
References
