A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

1 Citation (Scopus)

Abstract

The control of hydraulic valve-cylinder drives is still an active subject of research, and various linear and particularly nonlinear approaches has been proposed, especially in the last two-three decades. In many cases the proposed controllers appear to produce excellent tracking ability due to robust- and/or adaptive functionalities, but also often rely on full state feedback and/or cumbersome and elaborate parameter designs. Also, such sophisticated control approaches often lack tuning methods which, together with the lack of proven reliability, is likely to be the reason why such approaches generally has failed to break through in industry. This paper discusses the dominant properties necessary to take into account when considering position tracking
control of hydraulic valve-cylinder drives, and presents two generally applicable, generic control design approaches that combines non-linearity compensation, feed forward control and linear control. The generic properties of the proposed control structures arise with the fact that the designs are based on analytic considerations and rely on meaningful design rules. This also means that the proposed design approaches does not utilize conventional model based linear analysis tools such as bode plots, root loci etc. in order for the controller parameterizations to be realized. However, the analytic approach presented takes offset in such analyzes, but in a generalized fashion. The proposed control structures are focused on industrial applicability, and are therefore constrained to utilize only measurements of the piston position, the valve spool position, the transmission line pressures and the supply pressure, as feedbacks. The control structures are generally targeting a high bandwidth of the controlled cylinder drive and accurate tracking ability in the entire range of operation, rather than reducing stationary errors, and may be parameterized from the desired gain margin, as well as linear model parameters. The proposed control design approaches are evaluated in an experimentally validated, nonlinear simulation model of a hydraulic valve-cylinder drive, and the results demonstrate the excellent tracking effort realized with the proposed design approaches.
Original languageEnglish
Title of host publicationProceedings of the 9th FPNI Ph.D. Symposium on Fluid Power
Number of pages10
PublisherAmerican Society of Mechanical Engineers
Publication dateOct 2016
Article numberFPNI2016-1522
ISBN (Print)978-0-7918-5047-3
DOIs
Publication statusPublished - Oct 2016
Event9th FPNI Ph.D. Symposium on Fluid Power - Florianópolis, Brazil
Duration: 26 Oct 201628 Oct 2016

Conference

Conference9th FPNI Ph.D. Symposium on Fluid Power
CountryBrazil
CityFlorianópolis
Period26/10/201628/10/2016
SponsorFederal University of Santa Catarina (UFSC), Fluid Power Net International (FPNI)

Fingerprint

Hydraulics
Controllers
Root loci
Reels
Feedforward control
Parameterization
State feedback
Pistons
Electric lines
Tuning
Feedback
Bandwidth
Industry

Keywords

  • Control equipment
  • Valves
  • Cylinders

Cite this

Hansen, A. H., Schmidt, L., Pedersen, H. C., & Andersen, T. O. (2016). A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives. In Proceedings of the 9th FPNI Ph.D. Symposium on Fluid Power [FPNI2016-1522] American Society of Mechanical Engineers. https://doi.org/10.1115/FPNI2016-1522
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abstract = "The control of hydraulic valve-cylinder drives is still an active subject of research, and various linear and particularly nonlinear approaches has been proposed, especially in the last two-three decades. In many cases the proposed controllers appear to produce excellent tracking ability due to robust- and/or adaptive functionalities, but also often rely on full state feedback and/or cumbersome and elaborate parameter designs. Also, such sophisticated control approaches often lack tuning methods which, together with the lack of proven reliability, is likely to be the reason why such approaches generally has failed to break through in industry. This paper discusses the dominant properties necessary to take into account when considering position trackingcontrol of hydraulic valve-cylinder drives, and presents two generally applicable, generic control design approaches that combines non-linearity compensation, feed forward control and linear control. The generic properties of the proposed control structures arise with the fact that the designs are based on analytic considerations and rely on meaningful design rules. This also means that the proposed design approaches does not utilize conventional model based linear analysis tools such as bode plots, root loci etc. in order for the controller parameterizations to be realized. However, the analytic approach presented takes offset in such analyzes, but in a generalized fashion. The proposed control structures are focused on industrial applicability, and are therefore constrained to utilize only measurements of the piston position, the valve spool position, the transmission line pressures and the supply pressure, as feedbacks. The control structures are generally targeting a high bandwidth of the controlled cylinder drive and accurate tracking ability in the entire range of operation, rather than reducing stationary errors, and may be parameterized from the desired gain margin, as well as linear model parameters. The proposed control design approaches are evaluated in an experimentally validated, nonlinear simulation model of a hydraulic valve-cylinder drive, and the results demonstrate the excellent tracking effort realized with the proposed design approaches.",
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Hansen, AH, Schmidt, L, Pedersen, HC & Andersen, TO 2016, A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives. in Proceedings of the 9th FPNI Ph.D. Symposium on Fluid Power., FPNI2016-1522, American Society of Mechanical Engineers, 9th FPNI Ph.D. Symposium on Fluid Power, Florianópolis, Brazil, 26/10/2016. https://doi.org/10.1115/FPNI2016-1522

A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives. / Hansen, Anders Hedegaard; Schmidt, Lasse; Pedersen, Henrik Clemmensen; Andersen, Torben O.

Proceedings of the 9th FPNI Ph.D. Symposium on Fluid Power. American Society of Mechanical Engineers, 2016. FPNI2016-1522.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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AU - Hansen, Anders Hedegaard

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AU - Pedersen, Henrik Clemmensen

AU - Andersen, Torben O.

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N2 - The control of hydraulic valve-cylinder drives is still an active subject of research, and various linear and particularly nonlinear approaches has been proposed, especially in the last two-three decades. In many cases the proposed controllers appear to produce excellent tracking ability due to robust- and/or adaptive functionalities, but also often rely on full state feedback and/or cumbersome and elaborate parameter designs. Also, such sophisticated control approaches often lack tuning methods which, together with the lack of proven reliability, is likely to be the reason why such approaches generally has failed to break through in industry. This paper discusses the dominant properties necessary to take into account when considering position trackingcontrol of hydraulic valve-cylinder drives, and presents two generally applicable, generic control design approaches that combines non-linearity compensation, feed forward control and linear control. The generic properties of the proposed control structures arise with the fact that the designs are based on analytic considerations and rely on meaningful design rules. This also means that the proposed design approaches does not utilize conventional model based linear analysis tools such as bode plots, root loci etc. in order for the controller parameterizations to be realized. However, the analytic approach presented takes offset in such analyzes, but in a generalized fashion. The proposed control structures are focused on industrial applicability, and are therefore constrained to utilize only measurements of the piston position, the valve spool position, the transmission line pressures and the supply pressure, as feedbacks. The control structures are generally targeting a high bandwidth of the controlled cylinder drive and accurate tracking ability in the entire range of operation, rather than reducing stationary errors, and may be parameterized from the desired gain margin, as well as linear model parameters. The proposed control design approaches are evaluated in an experimentally validated, nonlinear simulation model of a hydraulic valve-cylinder drive, and the results demonstrate the excellent tracking effort realized with the proposed design approaches.

AB - The control of hydraulic valve-cylinder drives is still an active subject of research, and various linear and particularly nonlinear approaches has been proposed, especially in the last two-three decades. In many cases the proposed controllers appear to produce excellent tracking ability due to robust- and/or adaptive functionalities, but also often rely on full state feedback and/or cumbersome and elaborate parameter designs. Also, such sophisticated control approaches often lack tuning methods which, together with the lack of proven reliability, is likely to be the reason why such approaches generally has failed to break through in industry. This paper discusses the dominant properties necessary to take into account when considering position trackingcontrol of hydraulic valve-cylinder drives, and presents two generally applicable, generic control design approaches that combines non-linearity compensation, feed forward control and linear control. The generic properties of the proposed control structures arise with the fact that the designs are based on analytic considerations and rely on meaningful design rules. This also means that the proposed design approaches does not utilize conventional model based linear analysis tools such as bode plots, root loci etc. in order for the controller parameterizations to be realized. However, the analytic approach presented takes offset in such analyzes, but in a generalized fashion. The proposed control structures are focused on industrial applicability, and are therefore constrained to utilize only measurements of the piston position, the valve spool position, the transmission line pressures and the supply pressure, as feedbacks. The control structures are generally targeting a high bandwidth of the controlled cylinder drive and accurate tracking ability in the entire range of operation, rather than reducing stationary errors, and may be parameterized from the desired gain margin, as well as linear model parameters. The proposed control design approaches are evaluated in an experimentally validated, nonlinear simulation model of a hydraulic valve-cylinder drive, and the results demonstrate the excellent tracking effort realized with the proposed design approaches.

KW - Control equipment

KW - Valves

KW - Cylinders

U2 - 10.1115/FPNI2016-1522

DO - 10.1115/FPNI2016-1522

M3 - Article in proceeding

SN - 978-0-7918-5047-3

BT - Proceedings of the 9th FPNI Ph.D. Symposium on Fluid Power

PB - American Society of Mechanical Engineers

ER -

Hansen AH, Schmidt L, Pedersen HC, Andersen TO. A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives. In Proceedings of the 9th FPNI Ph.D. Symposium on Fluid Power. American Society of Mechanical Engineers. 2016. FPNI2016-1522 https://doi.org/10.1115/FPNI2016-1522