ACCURATE TRAJECTORY TRACKING CONTROL OF WATER HYDRAULIC CYLINDER WITH NON-IDEAL ON/OFF VALVES

Authors

  • Matti Linjama Institute of Hydraulics and Automation, Tampere University of Technology, P.O. BOX 589, FIN-33101, Tampere, Finland
  • Kari T. Koskinen Institute of Hydraulics and Automation, Tampere University of Technology, P.O. BOX 589, FIN-33101, Tampere, Finland
  • Matti Vilenius Institute of Hydraulics and Automation, Tampere University of Technology, P.O. BOX 589, FIN-33101, Tampere, Finland

Keywords:

Pulse Code Modulation, On/Off Control, Tracking Control

Abstract

The aim of the work is to develop an on/off valve based trajectory tracking control solution without fast and/or continuous switching of valves. The pulse code modulation method is used to realise stepwise control of inflow and outflow of the actuator. Both inflow and outflow paths have five parallel-connected two-way solenoid valves, each having different flow capacity according to binary series, and a four-way on/off valve is used for changing direction of movement. Cost function based open-loop and closed-loop control solutions are developed and it is demonstrated how the cost function weights can be used to find a reasonable trade-off between tracking performance and pressure surges. Closed-loop results show accurate and reasonably smooth position tracking and simultaneous pressure level control. Achieved control performance is close to that of water hydraulic servo systems.

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Author Biographies

Matti Linjama, Institute of Hydraulics and Automation, Tampere University of Technology, P.O. BOX 589, FIN-33101, Tampere, Finland

Matti Olavi Linjama (Born 4th July 1971) is Academy Research Fellow and works at the Institute of Hydraulics and Automation (IHA), Tampere University of Technology (TUT), Finland. He graduated as Dr. Tech. in 1998. His current research focuses on development of advanced water and oil hydraulic on/off control systems.

Kari T. Koskinen, Institute of Hydraulics and Automation, Tampere University of Technology, P.O. BOX 589, FIN-33101, Tampere, Finland

Kari Tapio Koskinen (Born 30th June 1962) is Professor of Fluid Power at Institute of Hydraulics and Automation (IHA), Tampere University of Technology (TUT), Finland. He graduated as Dr. Tech. in 1996. Since 1986 he has been acting in many kinds of R&D positions inside and outside TUT. Since 1998 he has been the leader of Water Hydraulics Research Group in IHA. He has published about 70 technical and scientific papers.

Matti Vilenius, Institute of Hydraulics and Automation, Tampere University of Technology, P.O. BOX 589, FIN-33101, Tampere, Finland

Matti Juhani Vilenius (Born 25th March 1948) is Professor and Head of Institute of Hydraulics and Automation (IHA) at Tampere University of Technology (TUT), Finland. He graduated as Dr. Tech. in 1980. Since 1971 he has been acting in many kinds of R&D positions inside and outside TUT. He has long experience as an academic level teacher and supervisor as well as an organizer of international conferences. He has published about 200 technical and scientific papers.

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Published

2003-03-01

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