Model-based force and position tracking control of an asymmetric cylinder with a digital hydraulic valve
DOI:
https://doi.org/10.1080/14399776.2016.1185876Keywords:
Digital hydraulics, tracking control, force control, position controlAbstract
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.
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