A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves

Christian Nørgård, Lasse Schmidt, Michael Møller Bech

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

Abstract

This paper focuses on estimating the velocity and position of fast switching digital hydraulic valves actuated by electromagnetic moving coil actuators, based on measurements of the coil current and voltage. The velocity is estimated by a simple first-order sliding mode observer architecture and the position is estimated by integrating the estimated velocity. The binary operation of digi-valves enables limiting and resetting the position estimate since the moving member is switched between the mechanical end-stops of the valve. This enables accurate tracking since drifting effects due to measurement noise and integration of errors in the velocity estimate may be circumvented. The proposed observer architecture is presented along with stability proofs and initial experimental results. To reveal the optimal observer performance, an optimization of the observer parameters is carried out. Subsequently, the found observer parameters are perturbed to assess the robustness of the observer to parameter estimation errors. The proposed observer demonstrates accurate tracking of the valve movement when using experimentally obtained data from a moving coil actuated digi-valve prototype and observer parameters estimates in the vicinity of the optimized parameter values.
Original languageEnglish
Title of host publicationProceedings of BATH/ASME 2016 Symposium on Fluid Power and Motion Control
Number of pages9
Place of PublicationASME Digital Collection
PublisherAmerican Society of Mechanical Engineers
Publication dateSep 2016
Article numberFPMC2016-1789
ISBN (Electronic)978-0-7918-5006-0
DOIs
Publication statusPublished - Sep 2016
Event BATH/ASME 2016 Symposium on Fluid Power and Motion Control - Bath, United Kingdom
Duration: 7 Sep 20169 Sep 2016
http://www.bath.ac.uk/mech-eng/research/ptmc/symposium

Conference

Conference BATH/ASME 2016 Symposium on Fluid Power and Motion Control
CountryUnited Kingdom
CityBath
Period07/09/201609/09/2016
Internet address

Fingerprint

Actuators
Hydraulics
Robustness (control systems)
Parameter estimation
Electric potential

Keywords

  • Actuators
  • Valves

Cite this

Nørgård, C., Schmidt, L., & Bech, M. M. (2016). A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves. In Proceedings of BATH/ASME 2016 Symposium on Fluid Power and Motion Control [FPMC2016-1789] ASME Digital Collection: American Society of Mechanical Engineers. https://doi.org/10.1115/FPMC2016-1789
Nørgård, Christian ; Schmidt, Lasse ; Bech, Michael Møller. / A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves. Proceedings of BATH/ASME 2016 Symposium on Fluid Power and Motion Control. ASME Digital Collection : American Society of Mechanical Engineers, 2016.
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Nørgård, C, Schmidt, L & Bech, MM 2016, A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves. in Proceedings of BATH/ASME 2016 Symposium on Fluid Power and Motion Control., FPMC2016-1789, American Society of Mechanical Engineers, ASME Digital Collection, BATH/ASME 2016 Symposium on Fluid Power and Motion Control, Bath, United Kingdom, 07/09/2016. https://doi.org/10.1115/FPMC2016-1789

A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves. / Nørgård, Christian; Schmidt, Lasse; Bech, Michael Møller.

Proceedings of BATH/ASME 2016 Symposium on Fluid Power and Motion Control. ASME Digital Collection : American Society of Mechanical Engineers, 2016. FPMC2016-1789.

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

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N2 - This paper focuses on estimating the velocity and position of fast switching digital hydraulic valves actuated by electromagnetic moving coil actuators, based on measurements of the coil current and voltage. The velocity is estimated by a simple first-order sliding mode observer architecture and the position is estimated by integrating the estimated velocity. The binary operation of digi-valves enables limiting and resetting the position estimate since the moving member is switched between the mechanical end-stops of the valve. This enables accurate tracking since drifting effects due to measurement noise and integration of errors in the velocity estimate may be circumvented. The proposed observer architecture is presented along with stability proofs and initial experimental results. To reveal the optimal observer performance, an optimization of the observer parameters is carried out. Subsequently, the found observer parameters are perturbed to assess the robustness of the observer to parameter estimation errors. The proposed observer demonstrates accurate tracking of the valve movement when using experimentally obtained data from a moving coil actuated digi-valve prototype and observer parameters estimates in the vicinity of the optimized parameter values.

AB - This paper focuses on estimating the velocity and position of fast switching digital hydraulic valves actuated by electromagnetic moving coil actuators, based on measurements of the coil current and voltage. The velocity is estimated by a simple first-order sliding mode observer architecture and the position is estimated by integrating the estimated velocity. The binary operation of digi-valves enables limiting and resetting the position estimate since the moving member is switched between the mechanical end-stops of the valve. This enables accurate tracking since drifting effects due to measurement noise and integration of errors in the velocity estimate may be circumvented. The proposed observer architecture is presented along with stability proofs and initial experimental results. To reveal the optimal observer performance, an optimization of the observer parameters is carried out. Subsequently, the found observer parameters are perturbed to assess the robustness of the observer to parameter estimation errors. The proposed observer demonstrates accurate tracking of the valve movement when using experimentally obtained data from a moving coil actuated digi-valve prototype and observer parameters estimates in the vicinity of the optimized parameter values.

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Nørgård C, Schmidt L, Bech MM. A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves. In Proceedings of BATH/ASME 2016 Symposium on Fluid Power and Motion Control. ASME Digital Collection: American Society of Mechanical Engineers. 2016. FPMC2016-1789 https://doi.org/10.1115/FPMC2016-1789