In this paper, a simple feedback linearization method is used to improve the tracking performance of a linear hydraulic-actuator. This research uses an open-centered four-way valve to control the displacement of the hydraulic actuator, based upon an input command from the operator. In this research, the operator is modeled as a first-order system with a bandwidth frequency of 2 Hz. The feedback linearization method is used to adjust the operator input based on the measurement of fluid pressure on only one side of the actuator and the pump pressure that supplies the valve. No other sensing is needed. Using this approach, the R-squared value for tracking a sinusoidal displacement of the actuator and the bandwidth frequency of the actuator are increased. Furthermore, it is shown that the feedback linearization method reduces and nearly eliminates the load dependence of the tracking response, which means that operators should have less difficulty learning how to operate the machine over a wide range of conditions, and the overall productivity of the machine should go up. In summary, the elegance of this model is found in the fact that it is very simple to implement and that the alterations in output performance are greatly enhanced.
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January 2018
Research-Article
Using Feedback Linearization to Improve the Tracking Performance of a Linear Hydraulic-Actuator
Noah D. Manring,
Noah D. Manring
Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: ManringN@missouri.edu
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: ManringN@missouri.edu
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Laheeb Muhi,
Laheeb Muhi
Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: lnm9kf@mail.missouri.edu
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: lnm9kf@mail.missouri.edu
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Roger C. Fales,
Roger C. Fales
Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: FalesR@missouri.edu
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: FalesR@missouri.edu
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Jeremy Peterson
Jeremy Peterson
Search for other works by this author on:
Noah D. Manring
Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: ManringN@missouri.edu
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: ManringN@missouri.edu
Laheeb Muhi
Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: lnm9kf@mail.missouri.edu
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: lnm9kf@mail.missouri.edu
Roger C. Fales
Department of Mechanical and
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: FalesR@missouri.edu
Aerospace Engineering,
University of Missouri,
Columbia, MO 65211
e-mail: FalesR@missouri.edu
Viral S. Mehta
Jeff Kuehn
Jeremy Peterson
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 19, 2016; final manuscript received June 20, 2017; published online September 8, 2017. Assoc. Editor: Kevin Fite.
J. Dyn. Sys., Meas., Control. Jan 2018, 140(1): 011009 (7 pages)
Published Online: September 8, 2017
Article history
Received:
April 19, 2016
Revised:
June 20, 2017
Citation
Manring, N. D., Muhi, L., Fales, R. C., Mehta, V. S., Kuehn, J., and Peterson, J. (September 8, 2017). "Using Feedback Linearization to Improve the Tracking Performance of a Linear Hydraulic-Actuator." ASME. J. Dyn. Sys., Meas., Control. January 2018; 140(1): 011009. https://doi.org/10.1115/1.4037285
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