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Adaptive Neural Network in Compensation the Dynamics and Position Control of a Servo-Hydraulic System With a Flexible Load

[+] Author Affiliations
Hassan Yousefi, Heikki Handroos

Lappeenranta University of Technology

Paper No. IMECE2005-79499, pp. 871-879; 9 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


Asymmetrical servo-hydraulic systems are commonly used in industry. These kinds of systems are nonlinear in nature and generally difficult to control. Because of changing system parameters, using the same gain will cause overshoot or even loss of system stability. The highly nonlinear behavior of these devises makes them idea subjects for applying different types of sophisticated controllers. This paper is concerned with using two artificial neural networks in compensation the dynamics and position tracking of a second order model reference in a flexible servo-hydraulic system. In present study, a neural network as an acceleration feedforward and another one as a gain scheduling of a proportional controller are proposed. Differential evolution algorithm is used to find the weights and biases to avoid the local minima. The proposed controller was verified with a commonly used p-controller. The results suggest that if the neural networks choose and train well, they improve all performance evaluation criteria such as stability, fast response, and accurate reference model tracking in servo-hydraulic systems.

Copyright © 2005 by ASME



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