Simulation design of predictive functional controller (PFC) for positioning control of electro-hydraulic actuator

Nor Faizal, Muhd Fakhruddin (2023) Simulation design of predictive functional controller (PFC) for positioning control of electro-hydraulic actuator. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

An electro-hydraulic actuator (EHA) uses electrical power to control hydraulic fluid, thereby moving parts of a machine system. This study aims to design a Predictive Functional Controller (PFC) for precise positioning control of the EHA system due to its highly non-linear behavior. PFC anticipates future process behavior and adjusts actions to achieve the desired output. Three different controllers were designed: a Proportional-Integral-Derivative (PID) controller tuned with PID Tuner, a PID tuned with Particle Swarm Optimization (PSO-PID), and the Predictive Functional Controller (PFC). A precise mathematical model, selected from previous research, was developed as the initial stage before conducting simulation tests and analysis in MATLAB Simulink. The analysis evaluated the accuracy of EHA system positioning control, including stability, transient response, and steady-state error. The simulation results revealed that PFC, tuned with Alpha=0.8, achieved the best precise positioning control, with a 79.79% improvement over the PID tuned with PID Tuner, and 99.37% over PSO-PID. PFC demonstrated better system response and the lowest steady-state error, which equaled 0.00002602 mm compared to the other controllers, due to its predictive capability, optimal control, and superior disturbance rejection. In summary, all controllers were successfully designed and analyzed, with PFC proving to be the best for precise positioning control in EHA systems.

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