This paper concerns the stability issue of pump-controlled single-rod cylinders, known as mode switching. First, a review of the topic is provided. Thereafter, the most recently proposed solution for the elimination of mode switching is investigated and shown to result in unstable behavior under certain operating conditions. A theoretical analysis is provided demonstrating the underlying mechanisms of this behavior. Based on the analysis, a novel control strategy is proposed and investigated numerically. Proper operation and stability are demonstrated for a wide range of operating conditions, including situations under which the most recently proposed solution results in unstable behavior and loss of control over the actuator.
This paper concerns the energy efficiency of a special class of pump-controlled hydraulic cylinders utilizing two prime movers. The performance of such circuits has been studied previously motivated by their capability of providing an actuator stiffness similar to that of servo valve-controlled systems. This characteristic may improve performance and robustness in applications requiring feedback control. In this paper, the presence of losses similar to that of fluid throttling, in the sense that they occur even in the absence of component inefficiencies, are demonstrated for such circuits and shown to degrade the overall energy efficiency of the system. The conditions under which such losses occur are derived analytically as a function of system parameters and operating conditions and two solutions for their elimination are proposed and verified analytically and numerically. Several implementation options are compared in terms of energy efficiency and component sizing and benchmarked to a conventional servo valve solution. It is shown that with the appropriate implementation, an energy efficiency up to ten times greater than that of a conventional servo valve system may be expected.
This paper addresses a performance limiting phenomenon that may occur in the pressure control of hydraulic actuators subjected to external velocity disturbances. It is demonstrated that under certain conditions a severe peaking of the control error may be observed that significantly degrades the performance of the system due to the presence of nonlinearities. The phenomenon is investigated numerically and experimentally using a system that requires pressure control of two hydraulic cylinders. It is demonstrated that the common solution of feed forwarding the velocity disturbance is not effective in reducing the peaking that occurs as a result of this phenomenon. To improve the system performance, a combination of feedback and iterative learning control (ILC) is proposed and evaluated. The operating conditions require that ILC be applied in combination with a feedback controller, however the experimental system inherently suffers from limit cycle oscillations under feedback due to the presence of valve hysteresis. For this reason the ILC is applied in combination with a feedback controller designed to eliminate limit cycle oscillations based on describing function analysis. Experimental results demonstrate the efficacy of the solution where the feedback controller successfully eliminates limit cycle oscillations and the ILC greatly reduces the peaking of the control error with reductions in the RMS and peak-to-peak amplitude of the error by factors of more than 30 and 19, respectively. Stability of the proposed solution is demonstrated analytically in the frequency domain and verified on the experimental system for long periods of continuous operation.
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