Force and Position Control in the Electro-Hydraulic System ... · PDF fileDouble acting cylinder ... the EHS uses a single PDCV to control both the force ... and does not use the inverter

1KMUTNB/Faculty of Tech.Ed.

Thermal & Fluid Lab.ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong

Pornjit Pratumsuwan and Aphaiwong JunchangpoodKing Mongkut’sUniversity of Technology North Bangkok (KMUTNB), Thailand

1. Background, Issues, Purposes2. Research methodology, Material

- Experimental Test Setup- Fuzzy Controller Designs

3. Experimental results & Discussion- Force and Position Responses- Power Consumption

4. Concluding remarks

The 8th IEEE Conference on Industrial Electronics and Application (ICIEA2013)

Force and Position Control in the Electro-Hydraulic System by Using a MIMO Fuzzy Controller


Thermal & Fluid Lab.

Background

PLASTIC INJECTIONMOULDING MACHINES

MECHANICAL HANDLING MACHINE TOOLS

STEEL WORKS

MOBILE HYDRAULICTESTING MACHINE

�Electro-hydraulic Systems (EHS) are used in numerous areas ofindustrial automation.

�All applications need to control the position or force as accurency.

ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong



Background

Hydraulic Press System

Force

Position

Speed

� Can be programmed (Control)

� Electro-Hydraulic System (EHS) is also used

Many applications inEHS � Needs of an accuracy, quite responding time

� Especially, in hydraulic press systems




Research Issues

Conventional Electro-hydraulic System

Actuator

Directional Control Valve

Flow Control Valve

Filter

Asynchronous Motor

Fixed Pump

Pressure Relief Valve

� Recently, Conventional EHS has been designed and used in an industrial automation, and considered about an energy saving ( PID & Fuzzy control)




Research Issues

Experimental Results on Our Previous Works

� On previous works, Energy Saving→ But didn’t focused on force and position control yet




Inverter

PressureReliefValve

MISOFuzzy

Controller

AsynchronousMotor

Hydraulic Circuit

Pressure Sensor

GearPump

Electro-hydraulic System

e

ce

Set point(SP)

Presently, the most research found that the inverter to control the speed of ASM used to drive the pump as a PID controller or MISO Fuzzy Controller.

Research Issues

� On previous works, MISO fuzzy controller → Directional control valve: Only On-Off

� However, algorithm control for real time in EHS → NOT been fully clarified yet.




Research Purposes

To clarify how to develop the control algorithm of force and position for real time

control in the Electro-Hydraulic Systems

Our Challenges:

� To find the new idea of intelligence control inthe electro-hydraulic system (EHS)

Explanations:

� Position Control

� Power Consumption

� Force Control

I

II

�Experiments→ in Responding Time for

�Experiments→ Considering in Energy Saving

�Electric Motor(EM), (ConventionalVS. Proposed EHS

L

F




Experimental Test Setup

Experimental Electro-Hydraulic System Electro-Hydraulic System curcit




Components Descriptions

Hydraulic pump Gear pump, Volumetric capacity 14(cm3/rev)

Asynchronous (induction) motorDouble acting cylinderDirectional control valvePressure relief valveProportional pressure relief valvePressure sensorProximity sensorCurrent sensorInverterDAQ Card NI 6353 PCI

LabVIEW program

380(V), 50(Hz), 3.7(kW)Bore size 62.5(mm), Rod ∅ 25 mm, Stroke 350(mm)4/3 Solenoid valve, Double coil, Closed centerControl pressure 0-100(bar)Voltage input 0-5(V), Control pressure output 0-100(V)Input pressure 0-5(V), Output voltage 0-10VInductive sensor 24 (V, on/off)0-20AV/F 0-50(Hz), 380(V), 3.7(kW)Analog input resolutions 12 bits (input range ±10V), output resolutions 12 bits (output range ±10V), 833 kS/s (6 µs full-scale settling)Version 2010

Experimental Test Setup

� The specification of each components in Exp. EHS: Are summarized in Table




Research Methodology and Material: Fuzzy Controller Designs

� The EHS : 4 Inputs + 3 Outputs (MIMO)

Control scheme of force and position control using a fuzzy controller

� Consider of Error & Change of Error: Set Point (SP) – Feed Back

(SP)

(Feed Back)

(SP)

(Feed Back)




The fuzzy sets of a fuzzy controller

Fuzzy Controller Designs

� Fuzzy sets: → Related to behavior of the EHS

Fuzzy sets of a controller

(PDCV)

(PPRV)

(Inverter)

(In 1.)

(In 2.)

(In 3.)

(In 4.)




� Fuzzy rule matrix: → Related to behavior of the EHS

Fuzzy rules of a controller

out 2 (Signal for proportionalpressure relief valve)

Fuzzy Controller Designs

out 3 (Signal for inverter)

out 1 (Signal for proportionaldirection control valve)




Experimental Results: Force & Position Responses

� Response: Fuzzy > Multiple PID.( equipment device, optimize responses, processing time)

� In order to consider responding time (F & S) → Instantaneous Force & Position results are illustrated

(a) Force response, P = 100 bars (b) Force response, P = 50 bars




Experimental Results: Force & Position Responses

(a) Position response, S = 350 mm (b) Position response, S = 175 mm


� Response: Fuzzy > Multiple PID.( equipment device, optimize responses, processing time)

� In order to consider responding time (F & S) → Instantaneous Force & Position results are illustrated



Experimental Results: Power Consumption

� In order to consider energy saving → The current results are illustrated

� The proposed EHS → Can save energy of 47% approximately

The power consumption of the electric motor (EM)




Concluding Remarks

By the MIMO fuzzy controller, the fuzzy control algorithm and datacommunication between the EHS and computer have strongly affected to theforce and position response very well. Moreover, the fuzzy sets and fuzzy rulesof its controller have been important for independent force& position controls.

Moreover, the results show that MIMO fuzzy controller has superiorperformance than the multiple PID controllers.

In a future work, we will consider the other variables which affect to the forceand position response and the power consumption of EHS, suchas strokefrequency and distance, hydraulic cylinder sizing, and so on.

�

�

�

In addition, the propose EHS also consumes lass energy than the conventionalEHS. To achieve this, the EHS uses a single PDCV to control both the forceand position, and does not use the inverter used indirectly to drive the hydraulicpump. Thus, the fuzzy controller is an alternative to control MIMO variables inthe EHS.

�




Thank you for your attention!...

….Q & A….


Documents

Force and Position Control in the Electro-Hydraulic System ... · PDF fileDouble acting cylinder ... the EHS uses a single PDCV to control both the force ... and does not use the inverter