Fine and simplified dynamic modelling of complex hydraulic systems

This paper deals with the dynamic modelling and subsequent control design and testing of a complex electro-hydraulic system. Modelling is based on physical laws and system knowledge. The main idea is to obtain a simple and reliable model that can be used for controller synthesis and implementation. A subsequent controller design procedure is made by using the architecture of Embedded Model Control. The effectiveness of the obtained controller is then validated by simulation experiments.

show abstract

“…A previous report about pump modelling has been made in [6]. Further details can be seen in [7], [8].…”

Section: Modelling Processmentioning

confidence: 94%

Power saving in mobile hydraulic systems via Embedded Model Control

Acuña-Bravo

Canuto

Malan

2009

2009 IEEE Conference on Emerging Technologies &Amp; Factory Automation

View full text Add to dashboard Cite

show abstract

“…A previous report about pump modeling has been made in [13]. Further details in axial type pump modeling can be seen in [13]- [17].…”

Section: A Pumpmentioning

confidence: 99%

“…Further details in axial type pump modeling can be seen in [13]- [17]. The actuator is a solenoid-valve driven hydraulic motor; valve spool position is given by…”

Section: A Pumpmentioning

confidence: 99%

“…To this aim further simplifications over to the model described by (1)-(10) must be done. The followed principle obeys to singular perturbation guidelines [5], [13]. According to this, some faster dynamics may be neglected, in this case, dynamics associated to pressure variations and some spool movements.…”

Section: A Embedded Modelmentioning

confidence: 99%

“…It must be completed with the disturbance dynamics to describe the evolution of disturbance and uncertainties. Combination of controllable dynamics (13) with the disturbance dynamics is summarized in …”

Section: A Embedded Modelmentioning

confidence: 99%

See 2 more Smart Citations

Embedded Model Control applied to mobile hydraulic systems

Acuña

Canuto

Malan

2010

18th Mediterranean Conference on Control and Automation, MED'10

Self Cite

View full text Add to dashboard Cite

This paper deals with the dynamic modeling, subsequent control design and testing of a complex electrohydraulic system. Modeling is based on physical laws and system knowledge. The main idea is to obtain a simple and reliable model that can be used for controller synthesis and implementation. Model reduction is done by using singular perturbation concepts. The power saving task required in mobile systems, is accomplished based on the load sensing paradigm, where many loads requested at any time must be fed and the maximum load pressure is used by the controller to take corrective actions. The control structure is developed under the Embedded Model Control framework; here, the simplified obtained model is embedded inside the controller, in order to compensate the discrepancies with respect to a nominal reference trajectory produced by uncertainties, unmodeled dynamics and perturbations. The effectiveness of the obtained controller is tested by simulation experiments 978-1-4244-8092-0/10/$26.00 ©2010 IEEE

show abstract

Energy shaping control of underactuated mechanical systems with fluidic actuation

Franco

Astolfi

2022

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Energy shaping is a remarkably effective control strategy which can be applied to a wide range of systems, including underactuated mechanical systems. However, research in this area has generally neglected actuator dynamics. While this is often appropriate, it might result in degraded performance in the case of fluidic actuation. In this work we present some new results on energy shaping control for underactuated mechanical systems for which the control action is mediated by a pressurized ideal fluid. In particular, we introduce an extended multi-step energy shaping and damping-assignment controller design procedure that builds upon the Interconnection-and-damping-assignment Passivity-based-control methodology in a modular fashion to account for the pressure dynamics of the fluid. Stability conditions are assessed with a Lyapunov approach, the effect of disturbances is discussed, and the case of redundant actuators is illustrated. The proposed approach is demonstrated with numerical simulations for a modified version of the classical ball-on-beam example, which employs two identical cylinders, either hydraulic or pneumatic, to actuate the beam.

show abstract

Fine and simplified dynamic modelling of complex hydraulic systems

Cited by 6 publications

References 3 publications

Power saving in mobile hydraulic systems via Embedded Model Control

Power saving in mobile hydraulic systems via Embedded Model Control

Embedded Model Control applied to mobile hydraulic systems

Energy shaping control of underactuated mechanical systems with fluidic actuation

Contact Info

Product

Resources

About