Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves
Hydraulic spool valve, pilot operated with bi-state switching micro valves is a low-cost alternative to the conventional proportional and high-response valves. However, high-frequency switching causes variations in the control flow which limits achievable spool tracking error. This paper presents th...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-08-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/14/16/4817 |
| _version_ | 1797524045189611520 |
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| author | Jordan Kralev Alexander Mitov Tsonyo Slavov |
| author_facet | Jordan Kralev Alexander Mitov Tsonyo Slavov |
| author_sort | Jordan Kralev |
| collection | DOAJ |
| description | Hydraulic spool valve, pilot operated with bi-state switching micro valves is a low-cost alternative to the conventional proportional and high-response valves. However, high-frequency switching causes variations in the control flow which limits achievable spool tracking error. This paper presents the design of a robust <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula>-controller for the spool position reference tracking synthesized with D-K iterative procedure. Furthermore, in order to reduce wind-up effects in the closed-loop, the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula>-controller is decomposed to a canonical observer and state feedback components which allows explicit introduction of the saturated control signal in the controller equations. The uncertainty model required for the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula>-synthesis is inferred from the nonlinear hydraulic model by identification of a Box–Jenkins model set characterized by its parameter covariance matrix. The regulator is implemented in a 32-bit programmable logic controller (PLC) and its performance is experimentally verified on a laboratory test bench of electro-hydraulic power steering system. |
| first_indexed | 2024-03-10T08:51:44Z |
| format | Article |
| id | doaj.art-7de22d94639b4267980e0d4b9373a24e |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-10T08:51:44Z |
| publishDate | 2021-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-7de22d94639b4267980e0d4b9373a24e2023-11-22T07:27:50ZengMDPI AGEnergies1996-10732021-08-011416481710.3390/en14164817Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro ValvesJordan Kralev0Alexander Mitov1Tsonyo Slavov2Department of Systems and Control, Technical University of Sofia, 1000 Sofia, BulgariaDepartment of Hydroaerodynamics and Hydraulic Machines, Technical University of Sofia, 1000 Sofia, BulgariaDepartment of Systems and Control, Technical University of Sofia, 1000 Sofia, BulgariaHydraulic spool valve, pilot operated with bi-state switching micro valves is a low-cost alternative to the conventional proportional and high-response valves. However, high-frequency switching causes variations in the control flow which limits achievable spool tracking error. This paper presents the design of a robust <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula>-controller for the spool position reference tracking synthesized with D-K iterative procedure. Furthermore, in order to reduce wind-up effects in the closed-loop, the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula>-controller is decomposed to a canonical observer and state feedback components which allows explicit introduction of the saturated control signal in the controller equations. The uncertainty model required for the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula>-synthesis is inferred from the nonlinear hydraulic model by identification of a Box–Jenkins model set characterized by its parameter covariance matrix. The regulator is implemented in a 32-bit programmable logic controller (PLC) and its performance is experimentally verified on a laboratory test bench of electro-hydraulic power steering system.https://www.mdpi.com/1996-1073/14/16/4817electro-hydraulic spool valverobust controlmicro valvesuncertain system identification |
| spellingShingle | Jordan Kralev Alexander Mitov Tsonyo Slavov Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves Energies electro-hydraulic spool valve robust control micro valves uncertain system identification |
| title | Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves |
| title_full | Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves |
| title_fullStr | Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves |
| title_full_unstemmed | Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves |
| title_short | Robust <i>μ</i>-Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves |
| title_sort | robust i μ i controller for hydraulic spool valve pilot operated with switching micro valves |
| topic | electro-hydraulic spool valve robust control micro valves uncertain system identification |
| url | https://www.mdpi.com/1996-1073/14/16/4817 |
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