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Research Papers

Flatness-Based High Frequency Control of a Hydraulic Actuator

[+] Author and Article Information
Florian Kock

Cornelius Ferrari

e-mail: cornelius.ferrari@dlr.de German Aerospace Center (DLR), Institute of Vehicle Concepts (FK), Stuttgart D-70569, Germany

J. Dyn. Sys., Meas., Control 134(2), 021003 (Dec 29, 2011) (7 pages) doi:10.1115/1.4005047 History: Received September 07, 2010; Revised July 19, 2011; Published December 29, 2011; Online December 29, 2011

This paper presents the design and implementation of a nonlinear feedforward control algorithm for a hydraulic actuator driven by a multistage servo valve. Combined with a conventional feedback control algorithm, high frequencies can be achieved even for large-scale strokes. In addition to the desired trajectory, the feedforward controller accepts the predicted dynamic load on the hydraulic actuator as an input. The performance of the control concept as well as the advantages of the load input are verified in simulations and experiments. Being exemplarily used for realizing a crankshaft-less test stand for free piston engines, the control algorithm is potentially suitable for further applications using hydraulic actuators in high frequency domain.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

Hydraulic actuator on the test stand

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Figure 2

Hydraulic working piston plunger and last stage of servo valve

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Figure 3

Cascaded control circuit

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Figure 4

Plant with signal generator and feedforward controller consisting of inverse model and case distinction

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Figure 5

Feedback controller variable gain KP

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Figure 6

Feedback controller variable gain KI

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Figure 7

Feedback controller variable gain KD

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Figure 8

Feedback control circuit with repetitive compensator

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Figure 9

Output signal of the feedforward controller without load (uF,0 ) and with load (uF ,FPLG )

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Figure 10

Desired and actual trajectory in the simulation

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Figure 11

Desired and actual trajectory at the test stand, actuating variable split up into feedforward and feedback portion (feedback controller: PID)

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Figure 12

Control deviation with conventional PID and PD-repetitive feedback controller (30 Hz/60 mm)

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