GA-Optimized Fuzzy-Feedforward-Bias Control of Motion by a Rugged Electrohydraulic System

An electrohydraulic system with a proportional valve and industry-grade cylinder has been used to target the servoclass tracking performance. Such systems have a wide range of heavy-duty applications, where the environment could be quite dirty along with the demands becoming faster and more precise every day. High static friction in the cylinder and large deadband of the valve in the system pose control challenges that are more severe than in a system with a servovalve and a low-friction cylinder. A fuzzy-feedforward-bias controller has been developed and a genetic algorithm has been used to optimize the controller parameters. The real-time control experiments revealed excellent tracking throughout the cycle for sinusoidal displacements beyond 1.5 Hz.