This paper aims to illustrate the design and validation of an adaptive controller developed for a hy- draulic press. The controller architecture relies on an in- ner / outer loop structure, with an outer loop devoted to the control of the mechanical part, and the inner one of the hydraulic subsystem. Moreover, adaptive laws aiming to estimate / compensate for external forces and disturbances that occur during the pressing phase, and for leakage flow in the piston are present. This second estimate is used to maintain the performances acceptable in a wide set of oper- ative conditions and for predictive maintenance. By using singular perturbation arguments, we show robustness to slowly increasing leakage gains, a typical situation in a real- world application. The control scheme is validated both on a simulative Simscape model and on the real hydraulic axis.

Design of a Robust Adaptive Controller for a Hydraulic Press and Experimental Validation / Davide Barchi, Alessandro Macchelli, Gildo Bosi, Lorenzo Marconi, Davide Foschi, Mirco Mezzetti. - In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. - ISSN 1063-6536. - STAMPA. - 29:5(2021), pp. 2049-2064. [10.1109/TCST.2020.3029359]

Design of a Robust Adaptive Controller for a Hydraulic Press and Experimental Validation

Alessandro Macchelli
;
Lorenzo Marconi;
2021

Abstract

This paper aims to illustrate the design and validation of an adaptive controller developed for a hy- draulic press. The controller architecture relies on an in- ner / outer loop structure, with an outer loop devoted to the control of the mechanical part, and the inner one of the hydraulic subsystem. Moreover, adaptive laws aiming to estimate / compensate for external forces and disturbances that occur during the pressing phase, and for leakage flow in the piston are present. This second estimate is used to maintain the performances acceptable in a wide set of oper- ative conditions and for predictive maintenance. By using singular perturbation arguments, we show robustness to slowly increasing leakage gains, a typical situation in a real- world application. The control scheme is validated both on a simulative Simscape model and on the real hydraulic axis.
2021
Design of a Robust Adaptive Controller for a Hydraulic Press and Experimental Validation / Davide Barchi, Alessandro Macchelli, Gildo Bosi, Lorenzo Marconi, Davide Foschi, Mirco Mezzetti. - In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. - ISSN 1063-6536. - STAMPA. - 29:5(2021), pp. 2049-2064. [10.1109/TCST.2020.3029359]
Davide Barchi, Alessandro Macchelli, Gildo Bosi, Lorenzo Marconi, Davide Foschi, Mirco Mezzetti
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/830170
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