Robust Position Control of Electro-Hydrostatic Actuator (EHA) under Uncertainty

Overview

This case addresses parameter uncertainty, leakage, and friction nonlinearity in an EHA system. A QFT-based robust position controller with compensation methods was designed and experimentally validated, demonstrating significant improvement in system tracking performance. ---

System Architecture

Signal flow summary: 1. **Controller** sends position command to the motor. 2. **Motor** receives command, rotates, and drives the hydraulic pump. 3. **Hydraulic pump** converts motor rotation into hydraulic flow and pressure. 4. **Hydraulic cylinder (actuator)** receives flow and produces displacement, pushing the load. 5. **Encoder on actuator** measures piston displacement, feeds back to controller. 6. **Pressure sensor on actuator** measures cylinder pressure, feeds back force information. 7. **Tank** stores hydraulic fluid and buffers pressure fluctuations. 8. **Tank pressure sensor** monitors fluid pressure to ensure system health and stability.

Experimental Setup

Hardware Configuration

Platform Compatibility Note

This system was validated under QUARC / Simulink. The signal interfaces (analog voltage, encoder, digital I/O) are electrically compatible with real-time control platforms including dSPACE, Speedgoat, and NI systems.

Applicable Scenarios

• Graduate research: EHA robust control and nonlinear compensation thesis experiments
• HIL simulation: hydraulic actuator position tracking validation
• Aerospace / industrial: electro-hydrostatic actuation system testing
• Control course labs: QFT robust controller design and verification

Important Notice

This application example documents an actual lab setup and is provided for technical reference only. Hardware shown reflects the validated configuration used in this experiment; equivalent substitutions may be applicable for similar setups. Customers are responsible for final product selection and application suitability assessment.

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