VISCOUS DAMPING COEFFICIENT AND EFFECTIVE BULK MODULUS ESTIMATION IN A HIGH PERFORMANCE HYDROSTATIC ACTUATION SYSTEM USING EXTENDED KALMAN FILTER

Abstract

Increasing demands on reliability and safety of fluid power devices have brought much attention to methods for improving condition monitoring of these devices. Whereas faults in hydraulic systems were detected only when limit values of measurable output signals were transgressed, recently, attempts have been made to detect them earlier and to locate them better by the use of measurable signals. The Extended Kalman Filter can be used for real-time estimation of parameters in system models. Changes in model parameters may be tracked and, in turn, be used for determining the condition of the system. In this paper, the Extended Kalman Filter (EKF) is applied to a novel hydrostatic actuation system referred to as the Electrohydraulic Actuator (EHA). A state space model of the EHA is developed and the Extended Kalman Filter is used to estimate unmeasurable but critical parameters such as viscous damping coefficient of the actuator and the effective bulk modulus of the system. The proof of concept of applying the EKF for parameter and state is demonstrated through both simulation and experimental evidence. Changes in the viscous damping coefficient at the actuator at a known temperature may be good indication that the fluid is degrading or that the dynamic seal of the actuator is experiencing wear. The effective bulk modulus has a large impact on the system response, affecting the natural frequency and stability and can have implications on the safety of operation. These two parameters cannot be measured directly and hence need to be estimated. Based on this estimation, corrective actions may be taken in safety critical applications for the EHA such as Flight Surface Actuation.