Model-based force and position tracking control of an asymmetric cylinder with a digital hydraulic valve
Keywords:Digital hydraulics, tracking control, force control, position control
This paper presents a model-based control solution for large inertia systems controlled by a fast digital hydraulic valve. The solution is based on model-based force control and it is shown that the cylinder chamber pressures have first order dynamics with the proper parameter selection. The robust stability is analyzed under unknown load mass, bulk modulus, and delay, and it is shown that a simple cascaded P + PID controller results in good control performance and robustness. The simulated results show smooth and stable response with good tracking performance despite large variations in the load mass and bulk modulus.
Eryilmaz, B. and Wilson, B.H., 2001. Improved tracking
control of hydraulic systems. Journal of dynamic systems,
measurement, and control, 123, 457–462.
Goode, S., 2000. Differential equations and linear algebra. 2nd
ed. Upper Saddle River, NJ: Prentice Hall.
Green, M. and Limebeer, D., 1995. Linear robust control.
Englewood Cliffs, NJ: Prentice Hall.
Harrison, A. and Stoten, D., 1995. Generalized finite
difference methods for optimal estimation of derivatives in
real-time control problems. Proceedings of the institution of
mechanical engineers, part I: journal of systems and control
engineering, 209, 67–78.
Jelali, M. and Kroll, A., 2004. Hydraulic servo-systems,
modelling, identification and control. London: Springer-
Kim, W., Won, D., and Tomizuka, M., 2015. Flatness-based
nonlinear control for position tracking of electrohydraulic
systems. IEEE/ASME transactions on mechatronics, 20 (1),
Koivumäki, J. and Mattila, J., 2015. High performance
nonlinear motion/force controller design for redundant
hydraulic construction crane automation. Automation in
construction, 51, 59–77.
Linjama, M. and Vilenius, M., 2005. Improved digital
hydraulic tracking control of water hydraulic cylinder
drive. International journal of fluid power, 6 (1), 29–39.
Linjama, M., et al., 2008. Comparison of digital hydraulic and
traditional servo system in demanding water hydraulic
tracking control. In: D.N. Johnston and A.R. Plummer,
eds. Fluid power and motion control (FPMC 2008), 10–12
September 2008 bath. Basildon: Hadleys, 393–403.
Linjama, M. and Vilenius, M., 2008. Digital hydraulics:
towards perfect valve technology. Ventil, Revija za Fluidno
Tehniko, Avtomatizacijo in Mehatroniko, 14 (2), 138–148.
Linjama, M., Huova, M., and Karvonen, M., 2012. Modelling
of flow characteristics of on/off valves. Proceedings of
the fifth workshop on digital fluid power, 24–25 October
Tampere, Finland. Tampere: Tampere University of
Linjama, M., Paloniitty, Tiainen, L. and Huhtala, K., 2014.
Mechatronic design of digital hydraulic micro valve
package. The second international conference on dynamics
and vibroacoustics of machines, 15–17 September 2014
Makkar, C., et al., 2005. A new continuously differentiable
friction model for control systems design. The 2005 IEEE/
ASME international conference on advanced intelligent
mechatronics, 24–28 July 2005 Monterey, 600–604.
Won, D., et al., 2015. High-gain disturbance observer-based
backstepping control with output tracking error constraint
for electro-hydraulic systems. IEEE transactions on control
systems technology, 23 (2), 787–795.
Zhu, W.-H. and Vukovich, G., 2011. Virtual decomposition
control for modular robot manipulators. IFAC world
congress, 28 August–2 September 2011 Milano, 13486–