Model-based force and position tracking control of an asymmetric cylinder with a digital hydraulic valve
Research output: Contribution to journal › Article › Scientific › peer-review
|Journal||International Journal of Fluid Power|
|Early online date||25 May 2016|
|Publication status||Published - 1 Sep 2016|
|Publication type||A1 Journal article-refereed|
This paper presents a model-based control solution for large inertia systems controlled by a fast digital hydraulic valve. The solution is based on model-based force control and it is shown that the cylinder chamber pressures have first order dynamics with the proper parameter selection. The robust stability is analyzed under unknown load mass, bulk modulus, and delay, and it is shown that a simple cascaded P + PID controller results in good control performance and robustness. The simulated results show smooth and stable response with good tracking performance despite large variations in the load mass and bulk modulus.
- Digital hydraulics, tracking control, force control, position control