ACSE Journal, Volume (5), Issue (4), Dec.
, 2005
Self Tuning Fuzzy Logic Control of an Electrohydraulic Servo Motor
Ayman A. Aly
Assistant Professor, Mech. Eng. Dept. Faculty of Engineering
Assiut University, Assiut, 71516, Egypt
ayman_aly@yahoo.com
Abstract
Because of the complexity of electro hydraulic
servo motor analysis and nonlinearities in the
system dynamics, design and control of electro-
hydraulic servo actuators are still difficult and
immature, although various methodologies of
the automatic control science were brought to
the proof in the field; from linearization to
artificial intelligence paradigm. In the recent
years there has been increasing interest of fuzzy
control in hydraulic applications. The
advantage of these fuzzy control methods is that
improvement of the transient characteristic of
control performance and control with excellent
robustness can be realized. In this paper, based
on the mathematical model driven, the
implementation of self tuning fuzzy logic
controller (STFLC) technique for positioning an
electro hydraulic servo motor system as a
nonlinear plant is investigated. Feasibility and
robustness of such application is assured.
Keywords: Fuzzy logic control - Electro
hydraulic motor – Position control – Nonlinear
model
1. Introduction
Electro-hydraulic servo actuators are
encountered in most industries where heavy
objects are manipulated or large forces and
torques with high speeds are exerted. The
features as their large processing force and
stiffness, good positioning and high payload
capabilities, and power to weight ratio, make
67
this type of actuation system appropriate for
positioning of aircraft control surfaces, high
power industrial machinery, position control of
military gun turrets and antennas, material
handling, construction, mining and agricultural
equipment. “Industrial hydraulic technology is
firmly entrenched in our global economy. The
usage is known as no boundary lines”, [1, 2].
Fuzzy logic has been applied in various
"difficult" control systems, usually closed-loop
in nature. In the recent years there has been
increasing interest of fuzzy control in hydraulic
applications. Fuzzy control techniques are
welcomed, especially when non-linear/ill-
defined systems are considered. From the
results in the fields of hydraulics prospect of
fuzzy control seems assured, [3, 4].
The demanding performance specifications for
such applications are high bandwidth implying
fast response time, high accuracy and high
fidelity control; such technical challenges have
led the researchers to examine how to improve
hydraulic control design, [5]. There are some
factors that limit of electro-hydraulic servo
actuators, but the final factor limiting these
applications is understudying and knowledge of
these systems. Because of the complexity of
electro-hydraulic servo actuators analysis as a
variable parameter nonlinear systems, design
and control of them are still difficult and
immature, although various methodologies of
the automatic control science were brought to
the proof in the field; from linearization to
artificial intelligence paradigm, [5, 6]. It is
 ACSE Journal, Volume (5), Issue (4), Dec., 2005

difficult to meet control demands or obtain τ

dQ
+ Q = K xV (2)
x
satisfactory performance by adopting traditional dt
control algorithms, and is complex, time- Eqs. (1) and (2) are combined to yield a
consuming, costly and not ideal initial state that dynamic valve model as
using adaptive control algorithms. For these dQ
τ + Q =
reasons, in this paper, a self tuning fuzzy logic dt
controller (STFLC) is presented. In most cases, ⎡ P ⎤ P
K xV x sgn ⎢1 − (sgn V x ) L ⎥ 1 − (sgn V x ) L
fuzzy logic based controller is usable when fast ⎣ Ps ⎦ Ps
(3)
rezones are needed with excellent accuracy dθ V C dP L
and/or repeatability. Q = Vm + + L e PL
dt 4 K h dt (4)
2. Dynamic Model The hydraulic motor is modeled by considering
The physical model of a nonlinear the rotary motor arrangement shown in Figure
electrohydraulic servo control system is shown 1, as well as by taking into account oil
in Fig.1. The inertial-damping system is driven compressibility and leakage across the motor.
by a hydraulic motor and the rotation motion of Using the principal conservation of mass yields
the motor is controlled by a servo valve. Higher the equation of motion of the load can be given
control input voltage can produce larger valve by
flow from the servo valve and fast rotation d 2θ dθ .
PL V m = J + B + T c sgn θ
motion of the motor. dt 2 dt (5)
A two-stage electrohydraulic servovalve is
connected to a hydraulic rotary actuator by very State Space Model
short hoses. The closed-loop action is obtained
Definitions of the state variables and inputs of
by comparing the angular position of the motor
the system are given below,
shaft with the input signal by the interfaced
States:
circuit. A tachogenerator is used to measure the
⎡ . .
⎤
angular velocity, which can be used as a [x1 x 2 x 3 x 4 ] = ⎢θ (t ) θ (t ) P L ( t ) P L ( t ) ⎥
feedback signal to the input of the servovalve ⎣ ⎦ (6)
drive amplifier. Inputs:
The electrohydraulic valve consists of a first
stage nozzle-flapper valve, and a second-stage [u 1 u 2 ] = [V i ( t ) Ps ] (7)
4-way spool valve. The valve drive amplifier
has a gain of 100 mA/V. Applying the states definition to the system of
The model is derived on the assumption that an nonlinear Eqs. (1-5), after manipulation, results
inertially loaded rotary motor is controlled by in the state variable model as follows:
the electrohydraulic servovalve. The steady- .
state valve model can be represented by the x1 = x2 ,
following relation, [5, 9].
⎡ P ⎤ P
Q = K xV x sgn ⎢1 − (sgn V x ) L ⎥ 1 − (sgn V x ) L . B V T
⎣ Ps ⎦
(1)
Ps x2 = − x 2 + m x 3 − c sgn x 2
J J J ,
The dynamic performance of the servovalve is .
described by a first-order time lag, [1] and is x3 = x4 ,
given by:

68
 ACSE Journal, Volume (5), Issue (4), Dec., 2005

. ⎡4K K K k k ⎧ x ⎫ x ⎤
x 4 = − x1 ⎢ h x a θ s
sgn ⎨1 − (sgn V x ) 3 ⎬ 1 − (sgn V x ) 3 ⎥
⎢⎣ τ V c n ⎩ u2 ⎭ u2 ⎥
⎦
⎡ 4 K ⎛ τV B ⎧ x ⎫ x ⎞⎤
h ⎜ ⎟⎥
+ x2 ⎢ m
− V m − K x K a k t k ω sgn ⎨1 − (sgn V x ) 3 ⎬ 1 − (sgn V x ) 3
⎢ τ V c ⎜⎝ J ⎩ u2 ⎭ u2 ⎟⎥
⎠⎦
⎣
⎡ 4 K h V m2 4 K h Le ⎤ ⎡ 1 4 K h L e ⎤ 4 K hV m
− x3 ⎢ + ⎥ − x4 ⎢ + ⎥+ T c sgn x 2
⎣ J Vc τ Vc ⎦ ⎣τ Vc ⎦ JV c
⎛ 4K h ⎞ ⎧ x ⎫ x
+ ⎜⎜ ⎟⎟ K x K a u 1 sgn ⎨1 − (sgn V x ) 3 ⎬ 1 − (sgn V x ) 3
⎝ τ Vc ⎠ ⎩ u2 ⎭ u2
(8)
The state variables model represented by Eqs. the first such proposed techniques is that due to
(6-8) is of the nonlinear form Mamdani [4], which describes the inference
. engine in terms of a fuzzy relation matrix and
x(t ) = f [x(t ), u (t )] (9) uses the compositional rule of inference to
The initial conditions of the state variables are arrive at the output fuzzy set for a given input
given by: fuzzy set. The output fuzzy set is subsequently
[x1 (0) x2 (0) x3 (0) x4 (0)] = [0 0 0 0] (10) defuzzified to arrive at a crisp control action.
The parameters of the system appearing in the Other techniques include sum-product and
state-variables model are given in Appendix A. threshold infringing.
Fuzzy systems stem from a logic, which treats
3. Fuzzy Logic Control vaguely known plants by membership functions
Fuzzy control was first applied by Mamdani to with values between (0 and 1). In fuzzy sets,
control a steam engine and this served as the based on fuzzy logic, an object has a
starting point for practical application. The membership degree to a given set with values
fuzzy inference method used by Mamdani was between (0 and 1). A fuzzy variable has
the "direct inference method" [11], which is linguistic values. The membership functions
currently the most frequently used method. A are, in general, symmetric or nonsymmetrical,
general fuzzy inference system consists of three triangular or trapezoidal. Fig.3, illustrate the
parts (see Fig.2). A crisp input is fuzzified by self tuning fuzzy relation matrix with the error,
input membership functions and processed by a change in error and output membership
fuzzy logic interpretation of a set of fuzzy rules. functions. While conventional control systems
This is followed by the defuzzification stage are based on the mathematical model of the
resulting in a crisp output. The rule base is plant, the proposed fuzzy control is based on the
typically crafted by an expert; though self intuition and experience of the human operator.
organizing procedures have been suggested [3, The command law in fuzzy systems is of the
4, 11]. form:
The error value from a given performance
measure is fed back and used to adapt all or one If e is E i and ce is CE j Then u is U m (11)
of the following: (a) Membership function
shapes and cardinality (b) & (d) And/Or The composition operation refers to the calculus
aggregation operators, (c) The rule base, and (e) of the command law. Among the composition
The defuzzification technique. methods, the most common used one is the
MAX-MIN method, [3, 4, 11]. Consequently
There are a number of different ways to firing only 4 rule nodes, the membership
implement the fuzzy inference engine. Among function for each rule is given by the minimum

69
 ACSE Journal, Volume (5), Issue (4), Dec., 2005
value and the combined output is given by the
supreme maximum of all rules.
[
hij = min µ i ( E ), µ j (CE ) , ]
(i=1,2 for E, j=1,2 for CE),
⎧2 2 ⎫
U m = max ⎨∑∑ hij Cij ⎬ ,
⎩ i =1 j =1 ⎭
where hij represents the contribution factor of
ijth rule and Cij is a linguistic fuzzy set of the
consequent part of the fuzzy control rule.
The general structure of a single input fuzzy
motion controller is given in Fig.4. The
command variable is determined based on the
two variables (e and ce) in relative values
calculated from the absolute values ( E and CE)
by division through the corresponding
amplifications.
Fuzzification may be done by taking definite
values of the variables to calculate the
membership function. Defuzzification may be
done in quite a few ways, one of, which is the
centroid method by which the command
variable (uo) is obtained through the gravity
center of the fuzzy function:
uo =
∫ µ (U (u )) du
m m
∫ U (u ) du
m
where µm is the grade of fuzzy membership
output and u is the location of output label for
the value contributed by the membership
function. The output commands surfaces of the
rules bases and its membership function is
shown in Fig. 5.
An important future of the proposed STFLC is
that does not need higher supervision level or
additional learning routine to modify itself. It is
capable by its decision making mechanism to
deal with the system nonlinearities and
disturbances challenges.
4. Results
A PID and self tuning fuzzy logic control
systems are implemented via MATLAB 6.3 and
applied to control the position of an electro
mechanical servo system. The desired response
is designed with no transient overshoot, stability
in the steady-state, and with zero steady-state
error of a complex hydraulic servo control
system. It is assumed that the ideal transfer
function of a PID controller is given by
⎛ K I ⎞
(12) K (s) = K P ⎜1 + + K D s⎟
⎝ s ⎠ (15)
(13) The results were performed with a constant
supply pressure of 70 bar connected to a
hydraulic rotary motor in two different tests.
The gains of the PID, [KP; KI; KD] controller
were setting as is [0.08; 0.0125; 0.199] to get
faster response with nearly zero overshoot.
Fig.6, was obtained by comparing the input step
signal with the hydraulic motor shaft encoder, it
is found that the rise time is about 0.3 sec. with
no overshoot and steady state error is zero.
However, if we improve the response rise time
by modified the tuning of the PID parameters,
an overshoot appeared. Its corresponding
control action is shown in Fig.7.
The other test is performed with fuzzy control
system, while the rise time is improved to be
0.17 sec., the system response overshoot is kept
to be zero as shown in Figure 8, and the
corresponding control signals is cleared at
Figure 9. It is interesting to notice that the
(14)
amplitude of the fuzzy logic control signal is
about half of that based on PID control system
which has significant importance in design and
choosing servovalves.
Another good result that the amplitude of the
servo valve flow rate is decreased by using the
proposed controller policy as presented in
Fig.10, compared with the PID controller
response in Fig.11, which is another proving
index in the hydraulic energy saving ability of
implementing the STFLC policy in controlling
the electro hydraulic servo motor.
For testing the disturbance rejection ability, it is
found that with decreasing of the servo valve
flow rate by 1% as a result of the system
leakage, the proposed controller has robust
response compared with the PID controller
which gave steady state error as illustrated in
Fig.12. To overcome this steady state error we
need to redesign the PID controller parameters
for the new condition or add a nonlinear
compensator to the original PID controller.
A tabulated comparison of the PID and the
proposed STFLC is illustrated in Table 1.
70
 ACSE Journal, Volume (5), Issue (4), Dec., 2005
Table1. Numerical comparison of PID and STFLC
PID
Comparison Items STFLC
M. PID
Rise time (sec.) 0.3
0.17
0.0
Overshoots % 8.8
Max. amplitude of controller
0.62
signal (V)
Max. amplitude of servo valve 6x10-5 4.8x10-5
signal (m3/s)
Steady state error with step
disturbance (rad.) 0.0035
5. Conclusions:
Since PID controller parameters are usually
designed using either one or two measurement
points of the system frequency response, their
control performance may not satisfy the desired
time-response requirements. It is difficult to
achieve high precision tracking using only
linear controllers, [13]. To overcome this
disadvantage, a self tuning fuzzy logic control
technique design is proposed and investigated
in this work. Feasibility of such application is
assured. From the simulation results, we
conclude that
ƒ Use of fuzzy logic control system results
is faster damping of system oscillation,
less settling times and zero overshoots
after system transient impacts compared
with the classical PID control system.
ƒ It is clear if only PID controller is used
without a nonlinear compensator; the
closed-loop system response gives
steady state error with the disturbance
change in system parameters.
ƒ Another interesting result of this search
implementing the proposed controller, it
is noticed that both amplitudes of the
controller signal and the servo valve
flow rate is smaller than them based on
the PID controller which mean better
saving in the consumed hydraulic
energy and economical using of the
hydraulic circuit parts.
However, it is still extremely difficult to
establish a systematic standard design method
for fuzzy logic control system like PID
controller which is forward linear differential
equation.
6. References
[1] J.Watton., Fluid Power Systems Modeling,
Simulation, Analog and Microcomputer
0.17 Control, Prentice hall Tokyo, 2002.
[2] E. Papadopoulos and S. Sarkar, "On The
0.0 Dynamic Modeling of an Articulated
Electrohydraulic Forestry Machine",
0.33
Proceeding of the 1996 AIAA Forum on
Advanced Development in Space Robotics,
Madison, WI, August 1996.
0.0 [3] Ming Shin and Shu Liaw, "Hydraulic
Servocylinder Position Control Using a
Fuzzy Logic Controller", Proceedings of the
Second Symposium of International
Conference in Fluid Power, Japan, 1993.
[4] Esa Niemela and Tapio Virvalo, "Fuzzy
Logic Control in a Joystick Operated
Hydraulic Crane", Proceedings of The
Second Symposium of International
Conference in Fluid Power, Japan, 1993.
[5] Ayman A. Aly, Modeling and Control of an
Electro-Hydraulic Servo Motor Applying
Velocity Feedback Control Strategy"
,Proceedings of IMEC2004 International
Mechanical Engineering Conference,
Kuwait, December 5-8, 2004.
[6] Abo-Ismail and A. Ray., "Effect of
Nonlinearities on the Transient Response of
an Electrohydraulic Position Control
Servo", J. Fluid Control, Vol. 17, Issue
No.3, PP. 59-79, 1987.
[7] Panagiotis Chatzakos and Evangelos
Papadopoulos, "On Model-Based Control of
Hydraulic Actuators", Proceedings of
RAAD'03, 12th International Workshop on
Robotics in Aple-Adria-Danube Region
Cassino May, 2003.
[8] Mclain, T. Iversen, Davis E. and Jacobsen
S., "Development, Simulation and
Validation of highly nonlinear hydraulic
Servosystem Model", Proceeding of the
American Control Conference, PP 385-391.,
Pittsburge, USA, 1989.
[9] Fitzsmimons P. and Palazzolo J., "Modeling
of a one degree of Freedom Active Control
Mount", Journal of dynamic Systems
Measurements and Control, 118, PP 439-
448, 1997.
71
 ACSE Journal, Volume (5), Issue (4), Dec., 2005

[10] Richard D. A., Timothy W. M. and Randal hij represents factor contribution of ijth rule
W. B., "Application of an Optimal Control Ka amplifier gain
Synthesis Strategy to an Electrohydraulic Kc flow-pressure coefficient, m5/sN
Positioning System", Journal of dynamic KD derivative controller gain, s
Systems Measurements and Control, 123, KI integral controller gain, s-1
PP 377-384, 2001. Kq flow gain which varies at different
[11] Wang and Felow, “ Generating Fuzzy operating points, m3/s/V
Rules By Learning From Examples”, IEEE, Kp proportional controller gain
Vol. 22, No. 6, Nov.(1992). Ks position transducer constant, V/rad/s
[12] P. Lindskog, "A system I dentification Kt tachogenerator constant, V/rad/s
Software Tool for General MISO ARX- Jt total inertial of motor and load,
Type of Model Structures", Technical report Nms2/rad
of Electrical Engineering Department, QL load flow, m3/s
Linkoping University, Sweden, December, n reduction gear ratio
1996. PL load pressure, bar
[13] G. P. Liu! and S. Daley, "Optimal-Tuning Ps supply pressure, bar
Nonlinear PID Control of Hydraulic S Laplace operator
Systems", Journal of Control Engineering t time, s
Practice 8 pp. 1045-1053, 2000. Td disturbance of the system, N.m
u denotes the linguistic variable associated
Nomenclature with the controller output uo, V
Bm viscous damping coefficient of the load, Um denote the consequent linguistic value
Nms/rad associated with u(t).
CE denote the linguistic variables associated Vt, total compressed volume, m3
with controller input ce, w area gradient, m2
C1 total leakage coefficient of the motor Xv displacement of the spool in the servo
m5/sN valve, m
Cd discharge coefficient Greek Symbols
Cij linguistic fuzzy set of the consequent θ shaft position, rad
part of the fuzzy control rule. .
θ angular velocity of the motor shaft, rad/s
Dm volumetric displacement, m3/rad
βe effective bulk modulus of the system.
e denote the linguistic variables associated
ρ fluid mass density, kg/m3
with controller input e,
Ej, CEl denote the jth(lth) linguistic value τ valve time constant, s
associated with e, ce respectively µ membership function grade

Appendix - A
Table A-1 System physical Parameter
Valve τ valve time constant s 2.3x10-3
Ka operational amplifier gain -1
Kx valve flow gain at Pl = 0 m3/s/v -1.36x10-4
Motor Vt volume of oil in motor and hoses m3 20.5x10-6
Vm motor displacement m3/rad 0.716x10-6
Le equivalent leakage coefficient m5/Ns 2.8x10-11
Kh hydraulic bulk modulus N/m2 1.4x109
Load Be equivalent viscous coefficient Nms/rad 2.95x10-3
J motor inertia Nms2/rad 3.4x10-3
Tf magnitude of coulomb-friction N.M 0.225
Transducer Kt tachogenerator constant v/rad/S 0.026
Ks position transducer constant v/rad 3.44
n gear ratio 7.5

72
 ACSE Journal, Volume (5), Issue (4), Dec., 2005

Input Reference Signal

Operation Amplifier
Ka

Digital
Controller

Servo Valve
Tachogenerator
Kt
Position Transducer Gear box
Ks 1/n

Fig.1. Schematic Diagram of the Electro hydraulic Servosystem

Fig.2. Block diagram of a general fuzzy inference system

ge in errorChan

Error

Change
Error

in error

NL (Negative Large) , NS (Negative Small), ZE

(Zero), PS (Positive Small), PL (Positive Large). Output

Fig.3. Self tuning fuzzy relation matrix with the error, change in error
and output membership functions

73
 ACSE Journal, Volume (5), Issue (4), Dec., 2005
Td

Referenc
uo Electrohydraulic System
θ
.
θ

Fig.4. Self tuning fuzzy logic controller block diagram.

Controller output

Error
Change in error

Fig.5 The output surfaces of the rules bases and its membership function.

74
 ACSE Journal, Volume (5), Issue (4), Dec., 2005

Position (rad).

Modified PID KP=0.12 , KI=0.083 , KD=0.284

PID KP=0.08 , KI=0.0125 , KD=0.199

Time (s)
Fig.6. System step response based on PID controller action
Controller Signal (V)

Time (s)
Fig.7. PID controller action signal
Position (rad).

Time (s)
Fig.8. System step response based on STFLC action
Controller Signal (V)

Time (s)
Fig.9. STFLC action signal

75
 ACSE Journal, Volume (5), Issue (4), Dec., 2005

Servo Valve Flow Rat

(m3/s)

Time (s)
Fig.10. Servo valve flow rate based on PID controller action
Servo Valve Flow Rat
(m3/s)

Time (s)
Fig.11. Servo valve flow rate based on STFLC action
Position (rad).

STFLC

PID

Time (s)
Fig.12. System step response based on PID and STFLC action Due to step 1%
decrease in the servo valve flow rate (6*10-7m3/s)

76