Modeling of an Electro-Hydraulic System for Wave Generation in a Wave Channel

Yıl 2025, Cilt: 13 Sayı: 3, 325 - 337

Batın Demircan , Tuğçe Yaren , Ersin Akyüz , Sabri Bıçakçı

https://doi.org/10.17694/bajece.1622216

Öz

This paper presents a black-box mathematical model of the electrohydraulic system controlling the wave generation structure in a wave channel under various operating conditions. For the position control of the system, NI-CRIO 9074 hardware and LabVIEW software were used. Open-loop position control experiments of the hydraulic cylinder were conducted using stimulus signals with different initial positions (0, 120, and 240 mm) and amplitudes. Data were recorded for different sampling times: 1 ms, 2 ms, 5 ms, and 10 ms. The recorded data were processed using the System Identification Toolbox (SIT) in MATLAB, and system models were developed in both continuous and discrete time domains using transfer function, state space, and AutoRegressive with eXogenous input (ARX) models. These models were compared and analyzed based on their fit rates to the training and test data. Among the system models with high compliance rates, the top three models were selected for further comparison using an additional test dataset. Based on this evaluation, the transfer function model (120 mm initial condition and 1 ms sampling time) type was identified as the best-performing model. This model was successfully integrated into the real-time control study, achieving effective controller performance.

Anahtar Kelimeler

Wave channel , Electro-hydraulic system , Hydraulic control , System identification , Black box

Destekleyen Kurum

Balıkesir University

Proje Numarası

BAUN BAP 2024/042

Kaynakça

• [1] M. Özbulut, “Düzenli Dalgalar Üreten Bir Sayısal Dalga Tankının SPH Yöntemi ile Modellenmesi,” Uludağ University Journal of The Faculty of Engineering, pp. 551–570, Sep. 2019, doi: 10.17482/uumfd.509229.
• [2] M. A. Drzewiecki and J. Guzinski, “Application of the ISE Optimized Proportional Control of the Wave Maker in a Towing Tank,” IEEE Access, vol. 10, pp. 42151–42162, 2022, doi: 10.1109/ACCESS.2022.3168047.
• [3] S. Mahjouri, R. Shabani, G. Rezazadeh, and P. Badiei, “Active Control of A Piston-Type Absorbing Wavemaker with Fully Reflective Structure,” China Ocean Engineering, vol. 34, no. 5, pp. 730–737, Sep. 2020, doi: 10.1007/s13344-020-0066-9.
• [4] Y. Liu, Y. Zheng, R. Song, J. Chen, and H. Jin, “Wave generation characteristic analysis of piston and flap type wave maker with rotary-valve-control vibrator,” Journal of Vibration and Control, vol. 26, no. 15–16, pp. 1297–1308, Aug. 2020, doi: 10.1177/1077546319895664.
• [5] B. Nouioui and M. Doğan, “Irregular Wavemaker (Piston Type) in a Numerical and Physical Wave Tank,” Usak University Journal of Engineering Sciences, vol. 5, no. 2, pp. 95–116, Dec. 2022, doi: 10.47137/uujes.1180866.
• [6] M. Y. Coşkun and M. İtik, “Reinforcement learning based position control of an electro-hydraulic system,” Niğde Ömer Halisdemir University Journal of Engineering Sciences, vol. 12, no. 1, pp. 280–288, 2023, doi: 10.28948/ngmuh.1163241.
• [7] H. U. Akova and T. Balkan, “Elektro-Hidrolik Yük Simülatörü İçin Geribesleme Doğrusallaştırma Yöntemi ile Kuvvet Kontrolü Tasarımı,” in Proceedings of the VIII. Ulusal Hidrolik Pnömatik Kongresi, Istanbul, Türkiye, 2012, pp. 295–306.
• [8] Rahmat, “Modeling and Controller Design of an Electro-Hydraulic Actuator System,” Am J Appl Sci, vol. 7, no. 8, pp. 1100–1108, Aug. 2010, doi: 10.3844/ajassp.2010.1100.1108.
• [9] M. F. Rahmat, S. Rozali, A. Wahab, and Zulfatman, “Application Of Draw Wire Sensor In Position Tracking Of Electro Hydraulic Actuator System,” International Journal on Smart Sensing and Intelligent Systems, vol. 3, no. 4, pp. 736-755, 2010.
• [10] Y. Lin, Y. Shi, and R. Burton, “Modeling and Robust Discrete-Time Sliding-Mode Control Design for a Fluid Power Electrohydraulic Actuator (EHA) System,” IEEE/ASME Transactions on Mechatronics, vol. 18, no. 1, pp. 1–10, Feb. 2013, doi: 10.1109/TMECH.2011.2160959.
• [11] J. Das, S. Kr. Mishra, R. Saha, S. Mookherjee, and D. Sanyal, “Nonlinear modeling of an electrohydraulic actuation system via experiments and its characterization by means of neural network,” Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 40, no. 2, p. 58, Feb. 2018, doi: 10.1007/s40430-018-0979-x.
• [12] S. Salleh, M. F. Rahmat, S. M. Othman, and H. Z. Abidin, “Application of Draw Wire Sensor in the Tracking Control of an Electro-Hydraulic Actuator System,” Journal of Technology, vol. 73, no. 6, pp. 51–57, 2015.
• [13] R. Ghazali, M. Sam, M. F. Rahmat, K. Jusoff, Zulfatman, and A. Hashim, “Self-Tuning Control of an Electro-Hydraulic Actuator System,” International Journal on Smart Sensing and Intelligent Systems, vol. 4, no. 2, pp. 189-204, 2011.
• [14] J. Yan, B. Li, H.-F. Ling, H.-S. Chen, and M.-J. Zhang, “Nonlinear State Space Modeling and System Identification for Electrohydraulic Control,” Math Probl Eng, vol. 2013, pp. 1–9, 2013, doi: 10.1155/2013/973903.
• [15] S. Kizir, T. Yaren, and E. Kelekçi, Matlab Simulink Destekli Gerçek Zamanlı Kontrol: Teori ve Mühendislik Uygulamaları. Ankara, Türkiye: Seçkin Yayıncılık, 2019.
• [16] L. Jin and Q. Wang, “Accurate model identification of the inertial mass dynamic of hydraulic cylinder with model uncertainty,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 233, no. 5, pp. 501–510, May 2019, doi: 10.1177/0959651818802113.
• [17] A. Mitov, T. Slavov, and J. Kralev, “Robustness Analysis of an Electrohydraulic Steering Control System Based on the Estimated Uncertainty Model,” Information, vol. 12, no. 12, p. 512, Dec. 2021, doi: 10.3390/info12120512.
• [18] A. Mitov, J. Kralev, T. Slavov, and I. Angelov, “Comparison of Model Predictive Control (MPC) and Linear-Quadratic Gaussian (LQG) Algorithm for Electrohydraulic Steering Control System,” E3S Web of Conferences, vol. 207, p. 04001, Nov. 2020, doi: 10.1051/e3sconf/202020704001.
• [19] B. Yu, Q. Zhu, J. Yao, J. Zhang, Z. Huang, Z. Jin, and X. Wang, “Design, mathematical modeling and force control for electro-hydraulic servo system with pump-valve compound drive,” IEEE Access, vol. 8, pp. 171988–172003, 2020, doi: 10.1109/ACCESS.2020.3012091.
• [20] J. Zhao, D. Song, B. Zhu, Z. Chen, and Y. Sun, "Nonlinear Backstepping Control of Electro-Hydraulic Brake System Based on Bond Graph Model," IEEE Access, vol. 8, pp. 19100–19112, Jan. 2020, doi: 10.1109/ACCESS.2020.2968513.
• [21] J. Schwarz and B. Lohmann, “Robust identification and control of mobile hydraulic systems using a decentralized valve structure,” Control Engineering Practice, vol. 151, Art. no. 106030, 2024. Available: https://doi.org/10.1016/j.conengprac.2024.106030.
• [22] A. He, L. Wei, Q. Lu, and P. He, “An Investigation of Energy Consumption Characteristics of the Pump-Control System for Electric Excavator Arms,” Applied Sciences, vol. 14, no. 23, Art. no. 10791, Nov. 2024. doi: 10.3390/app142310791.
• [23] S. Han, G. Orzechowski, J.-G. Kim, and A. Mikkola, “Data-driven friction force prediction model for hydraulic actuators using deep neural networks,” Mechanism and Machine Theory, vol. 192, Art. no. 105545, 2024. doi: 10.1016/j.mechmachtheory.2023.105545.
• [24] S.-W. Kim, B. Cho, S. Shin, J.-H. Oh, J. Hwangbo, and H.-W. Park, “Force Control of a Hydraulic Actuator With a Neural Network Inverse Model,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2814–2821, Apr. 2021, doi: 10.1109/LRA.2021.3062353.
• [25] S. Jiang, H. Wang, and G. Zhao, “Research on neural network model reference adaptive disturbance rejection control of digital hydraulic cylinder,” Advances in Mechanical Engineering, vol. 14, no. 12, pp. 1–15, 2022, doi: 10.1177/16878132221140706.
• [26] R. Dindorf, “Dynamic Modeling and Simulation of a Discrete Incremental Hydraulic Positioning System Controlled by Binary Valves,” Applied Sciences, vol. 14, no. 7, Art. no. 2973, Apr. 2024. doi: 10.3390/app14072973.
• [27] National Instruments Corp., “cRIO-9074 - NI.” Accessed: Jul. 20, 2024. [Online]. Available: https://www.ni.com/en-tr/support/model.crio-9074.html