Enhanced Operation Mode Design and Motion Control of a Dual-Redundancy Electro-Hydrostatic Actuator

Jin, Huatao; Li, Shuanglu; Yin, Yaobao; Guo, Rui; Fang, Cheng; Zou, Jiangkun

doi:10.3390/act13120474

Open AccessArticle

Enhanced Operation Mode Design and Motion Control of a Dual-Redundancy Electro-Hydrostatic Actuator

by

Huatao Jin

¹

,

Shuanglu Li

²,

Yaobao Yin

^1,*

,

Rui Guo

¹,

Cheng Fang

² and

Jiangkun Zou

¹

School of Mechanical Engineering, Tongji University, Shanghai 201804, China

²

Shanghai Aerospace Control Technology Institute, Shanghai 201109, China

^*

Author to whom correspondence should be addressed.

Actuators 2024, 13(12), 474; https://doi.org/10.3390/act13120474

Submission received: 15 October 2024 / Revised: 18 November 2024 / Accepted: 21 November 2024 / Published: 23 November 2024

(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)

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Abstract

In dual-redundancy electro-hydrostatic actuators (EHAs), the dual pumps are mainly designed for safety, where the cylinder is controlled mainly by one pump while the other one is standby for redundancy. However, such a strategy is basically like a single-pump-controlled system, and the flow from the pump may be inaccurate when the cylinder moves slowly, which will affect the motion control performance. A new dual-redundancy EHA is designed, and a series of corresponding operation modes are developed, enabling differential operation of the dual pumps. With the proposed operation modes, the inevitable flow inaccuracy problem of the single pump can be addressed through the coordination control of the dual pumps. In order to achieve better motion tracking performance, a model-based backstepping controller is synthesized, where the nonlinearities and uncertainties of the EHA are handled by model compensation and robust feedback design. Comparative simulations with existing control methods for EHAs are conducted and better motion tracking precision is achieved, especially during low-speed motion.

Keywords: dual-redundancy; electro-hydrostatic actuator (EHA); low-speed performance; adaptive backstepping control; trajectory tracking

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MDPI and ACS Style

Jin, H.; Li, S.; Yin, Y.; Guo, R.; Fang, C.; Zou, J. Enhanced Operation Mode Design and Motion Control of a Dual-Redundancy Electro-Hydrostatic Actuator. Actuators 2024, 13, 474. https://doi.org/10.3390/act13120474

AMA Style

Jin H, Li S, Yin Y, Guo R, Fang C, Zou J. Enhanced Operation Mode Design and Motion Control of a Dual-Redundancy Electro-Hydrostatic Actuator. Actuators. 2024; 13(12):474. https://doi.org/10.3390/act13120474

Chicago/Turabian Style

Jin, Huatao, Shuanglu Li, Yaobao Yin, Rui Guo, Cheng Fang, and Jiangkun Zou. 2024. "Enhanced Operation Mode Design and Motion Control of a Dual-Redundancy Electro-Hydrostatic Actuator" Actuators 13, no. 12: 474. https://doi.org/10.3390/act13120474

APA Style

Jin, H., Li, S., Yin, Y., Guo, R., Fang, C., & Zou, J. (2024). Enhanced Operation Mode Design and Motion Control of a Dual-Redundancy Electro-Hydrostatic Actuator. Actuators, 13(12), 474. https://doi.org/10.3390/act13120474

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

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Enhanced Operation Mode Design and Motion Control of a Dual-Redundancy Electro-Hydrostatic Actuator

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