Quantitative Feedback Theory Velocity Control of a Single-rod Pump-controlled Actuator Using a Novel Flow Compensation Circuit

Authors

  • Guangan Ren Department of Mechanical Engineering, University of Manitoba, Winnipeg, Manitoba, R3T 5V6, Canada
  • Gustavo Koury Costa Department of Mechanical Engineering, Federal Institute of Science and Technology of the State of Pernambuco, Recife-PE, Brazil
  • Nariman Sepehri Department of Mechanical Engineering, University of Manitoba, Winnipeg, Manitoba, R3T 5V6, Canada https://orcid.org/0000-0002-6384-8776

DOI:

https://doi.org/10.13052/ijfp1439-9776.2124

Keywords:

Pump-controlled actuator, quantitative feedback theory (QFT), robust control, single-rod cylinder, velocity control

Abstract

This paper employs the quantitative feedback theory (QFT) to design a robust fixed-gain linear velocity controller for a newly developed single-rod pump-controlled actuator. The actuator operates in four quadrants, with a load force becoming resistive or assistive alternatively. The controller also satisfies tracking, stability and sensitivity specifications in the presence of a wide range of system parametric uncertainties. Its performance is examined on an instrumented John Deere JD-48 backhoe. The experimental results show that the controller can maintain the actuator velocity within an acceptable response envelope, despite variation in load mass as high as 163 kg and the hydraulic circuit switching between operating quadrants.

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Author Biographies

Guangan Ren, Department of Mechanical Engineering, University of Manitoba, Winnipeg, Manitoba, R3T 5V6, Canada

Guangan Ren received his BSc and MSc degrees in Mechanical Engineering from Shenyang University of Technology and Northeastern University, China, in 2009 and 2011, respectively. He received his PhD in 2020 from the University of Manitoba, Canada. His research interests include robust control, system identification, energy efficient fluid power systems, and the automation of electro-hydrostatically actuated machines.

Gustavo Koury Costa, Department of Mechanical Engineering, Federal Institute of Science and Technology of the State of Pernambuco, Recife-PE, Brazil

Gustavo Koury Costa is currently a Fluid Power and Fluid Mechanics Professor at the Mechanical Engineering Department at the Federal Institute of Education, Science and Technology in Recife-PE, Brazil. He received his MSc and DSc degrees from the Federal University of Pernambuco, Brazil and held Post-Doctorates in The University of Manitoba, Canada.

Nariman Sepehri, Department of Mechanical Engineering, University of Manitoba, Winnipeg, Manitoba, R3T 5V6, Canada

Nariman Sepehri is a professor with the Department of Mechanical Engineering, at the University of Manitoba, Canada. He received MSc and PhD degrees from the University of British Columbia, Canada. His research and development activities are primarily centred in all fluid power-related aspects of systems, manipulation, diagnosis, and control.

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Published

2020-12-02

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Original Article

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