Model-based force and position tracking control of an asymmetric cylinder with a digital hydraulic valve

Authors

  • Matti Linjama Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland
  • Mikko Huova Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland
  • Kalevi Huhtala Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland

DOI:

https://doi.org/10.1080/14399776.2016.1185876

Keywords:

Digital hydraulics, tracking control, force control, position control

Abstract

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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Author Biographies

Matti Linjama, Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland

Matti Linjama is Adjunct Professor at the Tampere University of Technology. He leads the digital hydraulics research group at the Department of Intelligent Hydraulics and Automation.

Mikko Huova, Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland

Mikko Huova has just finished his PhD thesis about energy efficient digital hydraulic valve control and works as a senior researcher in the digital hydraulics research group.

Kalevi Huhtala, Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland

Kalevi Huhtala is head of the Department of Intelligent Hydraulics and Automation. He is a professor of mobile machines.

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Published

2018-03-01

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