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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
2KMUTNB/Faculty of Tech.Ed.
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
3KMUTNB/Faculty of Tech.Ed.
Thermal & Fluid Lab.
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
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
4KMUTNB/Faculty of Tech.Ed.
Thermal & Fluid Lab.
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)
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
5KMUTNB/Faculty of Tech.Ed.
Thermal & Fluid Lab.
Research Issues
Experimental Results on Our Previous Works
� On previous works, Energy Saving→ But didn’t focused on force and position control yet
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
6KMUTNB/Faculty of Tech.Ed.
Thermal & Fluid Lab.
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.
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
7KMUTNB/Faculty of Tech.Ed.
Thermal & Fluid Lab.
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
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
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Thermal & Fluid Lab.
Experimental Test Setup
Experimental Electro-Hydraulic System Electro-Hydraulic System curcit
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
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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
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
10KMUTNB/Faculty of Tech.Ed.
Thermal & Fluid Lab.
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)
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
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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.)
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
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� 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)
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
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Thermal & Fluid Lab.
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
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
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Thermal & Fluid Lab.
Experimental Results: Force & Position Responses
(a) Position response, S = 350 mm (b) Position response, S = 175 mm
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
� Response: Fuzzy > Multiple PID.( equipment device, optimize responses, processing time)
� In order to consider responding time (F & S) → Instantaneous Force & Position results are illustrated
15KMUTNB/Faculty of Tech.Ed.
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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)
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
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Thermal & Fluid Lab.
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.
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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.
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ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong
17KMUTNB/Faculty of Tech.Ed.
Thermal & Fluid Lab.
Thank you for your attention!...
….Q & A….
ICIEA2013, Jun. 19-21, Melbourne, Australia @ J. Aphaiwong