System Identification and Controller Design for Hydraulic Actuator

TL;DR

This paper presents a method for system identification and controller design for hydraulic actuators, using bandwidth-based excitation signals, validated through simulations, leading to accurate models and precise control.

Contribution

It introduces a bandwidth-based excitation signal selection method for hydraulic actuator system identification and demonstrates its effectiveness through simulation validation and control tuning.

Findings

Accurate mathematical models of hydraulic actuators were obtained.

The proposed excitation signals improved system identification accuracy.

Precise control was achieved using nonlinear PID tuning on the identified models.

Abstract

System Identification of Hydraulic Actuators is critical for analyzing their performance and designing a suitable Control System. Hydraulic actuators are extensively used in many applications, ranging from flight simulators, robotics, orthopaedic surgery, material testing, construction and many other industrial types of machinery. In the aviation industry, hydraulic actuators are currently being used in full flight simulators used for controlling the position and orientation of the motion platform. Every actuator has its own characteristics, therefore, the choice of excitation signals for System Identification must take into account the dynamics of the actuator under consideration. This work proposes the selection of excitation signals based on bandwidth of the hydraulic actuator. Validation of the proposed selection is done by performing system identification, obtaining a mathematical model and comparing it with a nonlinear hydraulic actuator model designed in Simscape. After validation, a nonlinear PID control has been tuned on the identified model and tested on the nonlinear model. Extensive simulations have been run and results show accurate mathematical modelling, as well as precise control has been achieved through the proposed methodology.