2011 International Conference on Electronic & Mechanical Engineering and Information Technology

The Application of Co-Simulation Based on AMESim and Matlab in Electrohydraulic Servo System
Y o n g l i n g F u 1 , Dianliang Fan 2 School of Mechanical Engineering and Automation Beihang University Beijing, China fuyongling@126.com, fandianliang@sina.com Haitao Q i 1 , Weihong W a n g 2 School of Automation Science and Electrical Engineering Beihang University Beijing, China haitao8642@ 163.com, he-bi@l63.com

AbstractThe structure and operating principle of Electrohydraulic servo system were described, and the Co-Simulation based on AMESim and Matlab was performed. Furthermore, aiming at the problem that construction of an accurate model of an Electro-hydraulic servo system based on traditional linear methods remains a difficult task due to its nonlinear characteristics including flow/pressure relation , etc, the paper proposed a data-driven control method based on the modelfree adaptive control. The simulation results show that the model-free adaptive control method satisfies the performance of servo control system, and provides the electro-hydraulic servo control system with new ideas and new methods. Intex TermsElectro-hydraulic Servo System; AMESim; Matlab; Co-Simulation; Model-Free Adaptive Control; I.
INTRODUCTION

Electro-hydraulic servo control system has many nonlinear features, for example the load flow of the servo valve is a nonlinear function of spool displacement, oil supply pressure and load pressure, and it is of great influence to the amplification in the front of the servo system, and simultaneously friction between the mechanical agencies, the damping coefficient of the system, viscosity and elasticity of the oil are nonlinear or time varying. Under the conditions, traditional control methods can not meet the requirements of precision control, and anti-interference ability is poor. The traditional PID controller is effective when the linear model of the controlled system change within a very small range. Though the traditional composite control scheme can be achieved within a certain range of high control precision, the control parameters of the adjustment is very cumbersome and it is difficult to find the optimal parameters. Therefore, adopting a new control method that does not rely on the system model has become the urgent requirements of the new generation of high precision load simulator. Data-driven control method is one of the theories and methods of control that aroused and developed to solve the problems of modern control method which dependent on the nature mathematical model and it is a control theory in a new direction. When the global mathematical model of the controlled system is completely unknown, or the uncertainty of the model of the controlled system is large, or when the controlled process has significant structural changes, it is difficult to use a mathematical model to express it; When

the cost of modeling and control is poor, or the mechanism model of the controlled system is too complex, order is too high, analysis and design are inconvenience in practice, we should consider the application of data-driven control theory to solve the practical control problems[l]. Currently, Datadriven control method has been successfully applied in the mold, motor control, chemical process control, urban expressway traffic control, and the fields of sheet metal forming. Practical application, simulation and theoretical proof all indicate that such methods are able to deal with strong nonlinear and time-varying control systems. The existence problems with the modern control theory are on two issues, these are the dependence of the structure of the controlled system and dynamics modeling. The datadriven control method is produced and develops quickly with the aim of solving the essential problem of modern control theory. The definition of data-driven control is: controller design model does not contain information about the mathematical model of the controlled process, controlled system using only the online and offline I /O data and the knowledge gained from processing data to design the controller, and under certain assumptions, the control theory and methods is in the nature of convergence, stability, security and robustness [1]. In short, data-driven control method is a controller designed directly from the data to the control method. AMESim has rich model library, and has great advantages on Modeling and Simulation for the hydraulic system. Users can build a custom module or simulation model in accordance with the actual physical system in AMESim. Simulink calculates by means of Matlab functions, and the control model can be established more accurately and programs written in Matlab are also more accurate, AMESim provides the interface with the Matlab, Their Co-Simulation, not only makes AMESim play prominent role in hydraulic components simulation capabilities, but also enables a more complete system simulation results with powerful numerical processing capabilities of Matlab / Simulink, and it is an effective solution to the problem of simulation technology. II. STRUCTURE OF ELECTRO-HYDROULIC SERVO SYSTEM

Structure of linear actuator load test system we studied is

978-l-61284-088-8/ll/$26.00 2011 IEEE

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u(k),u(k Where y(k)

-l),'-,u(k

-nu))

(1)

, u(k)

respectively stands for output and

input of the system at the time k; n , nu are the order of the system that is unknown; / ( ) is a nonlinear function that is unknown. Assumption 1: System (1) is a system that the input and output can be observed and controlled, that is to say: uniformly bounded desired output signal yr (k + 1) of a system, have possible existence of uniformly bounded control input signal, in which control makes the system driven by the input signal is equal to the output of the system desired output. Assumption 2: / ( ) is continuous on partial derivatives of the input signal of the current control system. Assumption 3: System (1) is generalized Lipschitz, that is to say, if there is an arbitrary k and Az/(A;) ^ 0 , the inequality is obtained, in the

I. Loading Cylinder 2. Force System Servo Valve 3. Force Sensor 4.Displacement Sensor 5.Displacement System Servo Valve 6. LVDT 7. Subjects Cylinder

Figure 1. loaded with the test system schematic

consisting of loading system and actuator system, execute component is loading cylinder, and control component uses flow servo valve, and detect loading force by the force sensor. As shown in Figure 1, the left is the loading system, and the right is the actuator system (linear actuators). Testing of actuator system can be divided into no-load test and load test, and if it is a no-load test, then the actuator system is only a position servo control system, however, with regard to loading system, it is divided into static loading and dynamic loading, and while static loading the actuator system does not move, now this loading system is a force servo system. If the actuator system moves according to its own expected steering trajectory as well when loading and at this time it is a dynamic load, now in terms of the loading system it is a force servo system with perturbation position. At this time, to overcome the problem of extraneous force becomes the main problem of the loading system. Therefore, the system has three control problems, they are as follows: position servo control; force servo control; extraneous force control. This paper focuses on position servo control only. System is provided with a 2IMP high-pressure by oil source, there are two accumulators on the oil distribution station, which can absorb the oil pressure fluctuation of the oil source, after this the oil run into the servo valve. LVDT detects the displacement of piston rod; Displacement transducer converts the value of the conversion by sample, and then sent to the computer. After the computer converting the signal that is calculated by the A/D conversion, the signal is added to the input of the servo amplifier in the form of voltage, servo amplifier converts the input voltage into current signal output to drive the servo valve, by adjusting the opening of the servo valve to control the flow of hydraulic cylinder, create the movement of the piston, and so control the displacement. III. DATA-DRIVEN CONTROL METHOD-MODELFREE ADAPTIVE CONTROL

inequality A^&+1) =y{k+\)-y{k\/Su{k)

=u(k)-u(k-l),

and b is a constant. Note 1: These three assumptions above are not harsh, assumption 1 is a basic assumption of the controlled system, if it is not satisfied, and the control of such systems is not possible. Assumption 2 includes a large class of nonlinear systems. Assumption 3 is a limit to the variation output of the system, That is, bounded changes in the input energy sector produce bounded changes in the output energy sector, and apparently, it includes a class of nonlinear systems. Theorem 1: The nonlinear system (1), satisfy the assumptions 1 to 3, so if | Au(k)\ (j)(k) called makes * 0 , There is a certain PPD', which

'Pseudo-partial-derivative ,

Ay(k + l) = 0(k)Au(k)
In addition U ( k ) \ < b, where b is constant.

(2)

Details of the proof of Theorem 1 which is nonparametric linear time-varying dynamic can be seen in [2]. Consider the following control input criterion function:

j(u(k)) =\y (k+l)-y(k+l)f +l\u(k)-u(k-lf

of the system, X is a positive weight coefficient, y{k) u(k) ,

(3)

Where y (k + 1 ) is the expectation of tracking signal respectively stand for output and input of the system , makes the changes

at the time k. This criterion function because of the introduction of X \u{k) u{k 1)

For nonlinear systems with general structure: y(k + l) = f(y(k),y(k-l),-,y(k-ny),

in the input of the control is limited, and overcomes the steady-state tracking error.

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Substitute (2) into the criterion function (3), solute the derivation of u(k) , and make it equal to zero, therefore,

u(k) = u(k-\) + Pf(k\2 (y(k + \)-y(k)) A + \0(k)\

Where p is a sequence of steps.

(4)

Since (/)(k) is a pseudo-partial derivative of the system, and is unknown, therefore, it can not be directly applied to (3). We use the online (j)(fc) which is estimated by (j){k), and give the expression for the control algorithm:
P(/> k)

u(k) = u(k-l)+

As shown in Figure 1, the composition and principle of the loading system and the actuator system, the paper creates electro-hydraulic position servo control system model shown in Figure 2 in AMESim. In Figure 2, all the hydraulic components are supplied from the hydraulic system of the standard components library in the model (6) M selection. Controller module is the interface module between AMESim and Matlab, through which you can Where y(k) represents the actual output of the system, output the control information in the Simulink to the servo (j> (fc) is the estimated value o(j)(k) , |i stands for the step valve; meanwhile, the Hydraulic models can also back the size parameter. sensor information to the Simulink controller. Interface With (2) and (6), according to the optimal conditions module is the standard module supplied by AMESim, the partial derivatives of pseudo-algorithm can be estimated, input and output number of the signals of the module need to be defined by you according to the need of the system. In the Simulation and modeling, set the main l) parameters of the system components as follows: ^~ JAy(k) - 0(k - 1) An(* -1)] (7) Servo valve: moog servo valve, rated flow 25L/min, ju + Au(k-\) response frequency 80Hz, damping ratio 0.8, deadband Where n stands for a sequence of steps, and |i is the 0.1%, zero leakage 1.2xl0"^mm/min; weighting factor. Hydraulic cylinder: piston inertial mass 10kg, piston IV. CO-SIMULATION AND DISCUSSION rod diameter 90mm, piston displacement 40mm, Control system modeling includes hydraulic system coefficient of viscous friction B=2000N.s/m. modeling and preparation of control algorithm. Cylinder B. Establish controller model in Matlab/Simulink control valve and hydraulic system modeling uses AMESim, As shown in Figure 3, in Matlab / Simulink the model and Matlab software is used for writing control algorithm. of hydraulic system is in an S-function module. The name A. hydraulic system modeling in AMESim of S-function module is the name of the hydraulic file created in AMESim, the entire process of Co-Simulation There are four steps to model and simulate the controlled by the Simulink, when simulation the hydraulic hydraulic system, they are as follows: system model Transfers to Simulink, and solves the (1) Sketch Mode: Select the appropriate graphics simulation with the solver provided by Matlab. Model-free module from different elements library to build adaptive controller achieved by the Matlab function written a system model; in the M-file which transfers to Simulink as well. (2) Submodel Mode: Designate corresponding With the pseudo-partial derivative estimation algorithm mathematical model for each graphics module; and control law previously obtained, MFAC control scheme (3) Parameter Mode: Set the corresponding can be given as follows: parameters for each graphics module; (j)(k) = (l)(k-\) + (4) Simulation Mode: Run the simulation and analysis of simulation results; r/Au{k-\) Pseudo-partial derivative of the estimated criterion function is:

[ (y(k + l)-y(k)) A + U(k)\

(5)

Figure 2. the system model based on AMESim

Akk)) = \y(k) - y(k -1) -fck)Au(k - l)f + \kk)-kk-l)

ju + Au(k-l)

~[Ay(k) - <j>(k - \)Au(k -1)]

(8)

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0(k) = $(l),

if0(k)<S,
P k

or\Au(k-l)\< (y(k + l)-y(k))

(9) (10)

displacementsensor - signal output [null] signalOl - sine wave output [null]

u{k) = u{k-\)+

^ \2

x+

In the inequality s is a sufficiently small positive number. First of all, write the model-free adaptive control algorithm (MFAC) discussed earlier in Matlab Function. Select the parameters of MFAC controller according to (7), (8) and (9), and through the co-simulation to determine the best parameters for model-free adaptive controller are: s=0.001, p= 0.85, X= 0.1, n= 0.6, u=2 Then, package the model created in the hydraulic system in AMESim to Matlab / Simulink S-Function, through the interface of AMESim and Matlab. Finally, complete the structures of Matlab / Simulink models, and run the simulation. The Co-Simulation of AMESim and Matlab is shown in Figure 3. In Figure 3, the reference input is a sine curve with amplitude 4mm, frequency 3Hz. From Figure 4 and 5 you can see that the output can track with the input well which makes the system a good tracking one. The magnified of Figure 5 shows that only a small amount of delay, which indicates that the system has good stability and rapid response.

Figure 5. The simulation of the position servo system (local enlarge)

MATLAB Function

&

1 L

AMESim

V. CONCLUSION From the simulation process we can find that the CoSimulation based on AMESim and Matlab can create dynamic system models easily, meanwhile operate simply and also have good efficiency and accuracy. Co-simulation can be applied to more complex and wider range of fields, and the engineers can be freed from the process of modeling which is tedious and complex. The model-free adaptive control method was applied to electro-hydraulic position servo system in this paper, which satisfied the nonlinear characteristics of the electro-hydraulic servo system control and model-free adaptive control method that does not require the characteristics of the mathematical model. The application of the model-free adaptive control method in electro-hydraulic position servo system which has important theoretical and practical significance, not only provides the electro-hydraulic servo control system with new ideas and new methods, but also enriches and expands the data-driven method of control theory.
REFERENCES [1] Fu Yongling, Zhu chengjian. Heavy Load Electric and Hydraulic Position Servo System Analysis and Simulation Based on AMEsim [J]. Machine tool & hydraulics. 2007, 35(8):210-212. Hou Zhong-sheng, Xu jian-xin. On Data-driven Control Theory: the State of the Art and Perspective [J]. ACTA AUTOMATIC A SINICA, 2009, 35(6):650-667. Qi Haitao, Fu Yongling, Simulation of Electro-hydrostatic Actuator Based on AMESim [J]. Machine tool & hydraulics, 2007, 35(3): 184186. Hou Zhongsheng. Nonparametric Model and Its Adaptive Control Theory [M]. Beijing: Science Press, 1999. Wang W. H., Hou Z. S., Jin S. T., Model-Free Indirect Adaptive Decoupling Control for Nonlinear Discrete-Time MIMO Systems[C], IEEE Conference on Decision and Control & Chinese Control Conference 09, Dec.16-18, 2009, shanghai, CHINA, 7663-7668. Fu Yongling, Qi Xiaoye. AMESim system modeling and simulation from entry to the master [M]. Beijing: Beihang Press, 2006. Zhang L. X., The Load Simulator Using Blow Servo Valve with Interconnected Pores[C]. Proceedings of Third China-Russia-Ukraine Symposiumon Astronautical Science and Technology, Xi'an. 1994, (9): 652-655.

Figure 3. Co-Simulation of cylinder valve position servo system

displacementsensor - signal output [null] - 2 signalOl - sine wave output [null]

[2]

[3] [4] [5]

[6]
X : Time [s]

[7]

Figure 4. The simulation of the position servo system

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