Fig 1.
Design scheme of shock absorber test bench.
Fig 2.
Schematic diagram of hydraulic servo displacement control system structure.
Fig 3.
Working principle diagram of valve controlled symmetrical hydraulic cylinder.
Fig 4.
Optimization flowchart of dung beetle optimization algorithm.
Fig 5.
Boundary selection strategy one.
Fig 6.
Boundary selection strategy two.
Fig 7.
Algorithm DBO search agent distribution.
Fig 8.
AEMSim model of valve-controlled hydraulic cylinder.
1. Electrical machinery 2. Fixed displacement pump 3. Proportional relief valve 4. Servo Valve 5. Joint simulation interface 6. Pressure sensor 7. Valve-controlled hydraulic cylinder 8. Displacement sensor 9. External load.
Fig 9.
Simulink model of DBO-DO-RAC controller.
1. Target displacement and its derivatives of various orders 2. Joint simulation interface 3.Virtual control rate α2 4. Virtual control rate α1 5. Optimization parameters of dung beetle optimization algorithm 6. Robust adaptive controller u 7. Model compensation item ua 8. Robust control rate us.
Table 1.
Main parameters of the mode l.
Fig 10.
Iterative curve of the dungeon algorithm.
Table 2.
DBO-DO-RAC tuning parameters.
Fig 11.
Step signal response curve.
Fig 12.
Step signal error curve.
Table 3.
Comparison of simulation results for step control signals.
Fig 13.
Sinusoidal signal response curve.
Fig 14.
Sinusoidal signal error curve.
Table 4.
Comparison of simulation results for sinusoidal control signals.
Fig 15.
Damping damper test bench.
Fig 16.
Step signal response curve.
Fig 17.
Step signal error curve.
Fig 18.
Sinusoidal signal response curve.
Fig 19.
Sinusoidal signal error curve.
Fig 20.
Ramp signal response curve.
Fig 21.
Ramp signal error curve.
Table 5.
Comparison of experimental signal results.