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Research Papers

Using Leakage to Stabilize a Hydraulic Circuit for Pump Controlled Actuators

[+] Author and Article Information
Longke Wang

e-mail: longke.wang@gatech.edu

Wayne J. Book

e-mail: wayne.book@me.gatech.edu
Georgia W. Woodruff School
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received February 3, 2012; final manuscript received June 22, 2013; published online August 23, 2013. Assoc. Editor: Won-jong Kim.

J. Dyn. Sys., Meas., Control 135(6), 061007 (Aug 23, 2013) (12 pages) Paper No: DS-12-1045; doi: 10.1115/1.4024900 History: Received February 03, 2012; Revised June 22, 2013

Pump controlled hydraulic actuators offer higher energy efficiency than valve controlled actuators. However, there exists mode switching in pump controlled systems and instability may arise when a single rod cylinder is implemented. This paper examines the problem of system stability in a pump controlled system with single rod cylinders. It is shown that the system dynamics have a stable tendency or an instable tendency corresponding to different cylinder movements. The paper shows system instability can be avoided by controlling fluid leakage, and two applicable methods are presented: physical leakage compensation and virtual leakage compensation, which can be applied depending on applications. Experiments and numerical simulations are presented. Results show that the proposed solutions can maintain circuit stability: physical leakage compensation can be a general approach while virtual leakage compensation offers higher energy efficiency and lower cost, but its applications are limited by some factors.

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Figures

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Fig. 1

A closed loop hydraulic circuit for single rod cylinders

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Fig. 2

Simplified cylinder model

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Fig. 3

Working regions on pressures plane

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Fig. 4

Limit cycle on pressure plane

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Fig. 5

(a) Pump controlled cylinder and (b) equivalent dynamics

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Fig. 6

Trajectory of cylinder extending

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Fig. 7

Trajectory of cylinder retracting

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Fig. 9

Backhoe used for simulation

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Fig. 10

Simplified boom function of the backhoe

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Fig. 11

Pressure response without leakage compensation

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Fig. 12

Pressure response with virtual leakage compensation

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