The Parallel Control of Motion Control and Energy-Saving Control for Electro-Hydraulic Servo Systems Using Genetic Algorithm Based Loop-Shaping H_∞ Control

摘要

Conventional electro-hydraulic servo control systems that incorporate positive displacement pumps and relief valves have a problem of low energy efficiency. The objective of this research is to implement parallel control of motion control and energy-saving control in an electro-hydraulic servo control systems to achieve both high motion control performance and high energy efficient simultaneously. The overall control system is a two-input two-output system. For that, the loop-shaping H_∞ control strategy is developed in this study to reduce the coupling interactions between the two subsystems. Moreover, in order to achieve both the frequency domain and time domain specifications at the same time, the genetic algorithm is used to select weighting functions of loop-shaping H_∞ control. To compare the energy-saving performance, the motion control is implemented with and without energy-saving control systems, respectively. The parallel control of motion control, including path control and velocity control, with energy-saving control in an electro-hydraulic servo system by the genetic algorithm based loop-shaping H_∞ control is implemented experimentally.