DESIGN OF CASCADE CONTROLLERS FOR A HYDRAULIC ACTUATOR

Authors

  • Mauro A. B. Cunha Pelotas Federal Centre for Technological Education, Praça Vinte de Setembro, 455, Pelotas-RS, 96015-360, Brazil
  • Raul Guenther Federal University of Santa Catarina, Mechanical Engineering Department, Florianópolis-SC, 88040-900, Brazil
  • Edson R. De Pieri Federal University of Santa Catarina, Automation and System Department, Florianópolis-SC, 88040-900, Brazil
  • Victor Juliano De Negri Federal University of Santa Catarina, Mechanical Engineering Department, Florianópolis-SC, 88040-900, Brazil

Keywords:

hydraulic actuators, cascade strategy, design guidelines, controller tuning, valve dynamics

Abstract

This paper addresses the design of the cascade controllers for the position trajectory tracking control in hydraulic ac-tuators. The cascade strategy consists in interpreting the hydraulic actuator mathematical model as two interconnected subsystems: a mechanical subsystem driven by a hydraulic one. From this interpretation, cascade controllers with suita-ble properties were proposed. In this paper, in order to state the design guidelines for the cascade controllers gains, a theoretical analysis focusing on the relations between controllers gains and performance is presented. Implementation aspects required to obtain an optimised performance are also discussed. Experimental results support the design guide-lines and the implementation aspects approached in this work.

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Author Biographies

Mauro A. B. Cunha, Pelotas Federal Centre for Technological Education, Praça Vinte de Setembro, 455, Pelotas-RS, 96015-360, Brazil

Mauro André Barbosa Cunha Born on March 30th 1972 in Pelotas-RS (Brazil). Study of Electrical Engineering at UCPEL Pelotas-RS. Doctor in Electri-cal Engineering at UFSC in April 2001. At the moment, he is an assistant profes-sor at Pelotas Federal Centre for Techno-logical Education.

Raul Guenther, Federal University of Santa Catarina, Mechanical Engineering Department, Florianópolis-SC, 88040-900, Brazil

Raul Guenther Born on May 27th 1953 in Joinvile (Brazil). Study of Mechanical Engineer-ing at UFSC Florianópolis-SC. Doctor in Mechanical Engineering at UFRJ in 1993. He is professor in Mechanical Engineering Department at UFSC. At the moment, he is the head of the Robotics Laboratory.

Edson R. De Pieri, Federal University of Santa Catarina, Automation and System Department, Florianópolis-SC, 88040-900, Brazil

Edson Roberto De Pieri Born on May 30th 1960 in Mogi Mirim (Brazil). Study of Mathematics at UNI-CAMP Campinas-SP. Doctor in 1991 at Université de Paris VI in Electrical Engineering. He is professor in Automa-tion and System Department at UFSC. At the moment, he is the head of the Electrical Engineering Post Graduation Program.

Victor Juliano De Negri, Federal University of Santa Catarina, Mechanical Engineering Department, Florianópolis-SC, 88040-900, Brazil

Victor Juliano De Negri Born on September 15th 1960 (Brazil). Study of Mechanical Engineering at UNISINOS São Leopoldo-RS. Doctor in Mechanical Engineering at UFSC in 1996. He is professor in Mechanical Engineering Department at UFSC. At the moment, he is the head of the Laboratory of Hydraulic and Pneumatic Systems.

References

Cunha, M. A. B., Guenther, R. and De Pieri, E. R. 1997. Robustness Analysis of Cascade Controller Applied to a Hydraulic Actuator. Proceedings of XII Congreso Chileno de Ingeniéria Electrica, Temuco, Vol. 2, pp. 479-484.

Cunha, M. A. B., Guenther, R., De Pieri, E. R. and De Negri, V. J. 2000a. A Fixed Cascade Controller Applied to a Hydraulic Actuator Including the Ser-vovalve Dynamic. Power Transmission and Motion Control 2000, Ed. C. R. Burrows; K. A. Edge (Uni-versity of Bath), Suffolk: Professional Engineering Publishing, 2000, pp. 59-72.

Cunha, M. A. B., Guenther, R., De Pieri, E. R, and De Negri, V. J. 2000b. A Cascade Strategy Using Nonlinear Control Techniques Applied to a Hydrau-lic Actuator. Proceedings of the 1st Fluid Power Net International – PhD Symposium, Hamburg 2000, pp. 57-70.

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Published

2002-08-01

How to Cite

Cunha, M. A. B., Guenther, R., De Pieri, E. R., & De Negri, V. J. (2002). DESIGN OF CASCADE CONTROLLERS FOR A HYDRAULIC ACTUATOR. International Journal of Fluid Power, 3(2), 35–46. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/624

Issue

2002: Vol 03 Iss 2

Section

Original Article

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