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Research Papers

Generic Modeling and Control of an Open-Circuit Piston Pump—Part II: Control Strategies and Designs

[+] Author and Article Information
Shu Wang

Eaton Corporation,
14615 Lone Oak Road,
Eden Prairie, MN 55344
e-mail: Shw750@mail.usask.ca

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 27, 2015; final manuscript received January 6, 2016; published online February 15, 2016. Assoc. Editor: Kevin Fite.

J. Dyn. Sys., Meas., Control 138(4), 041005 (Feb 15, 2016) (10 pages) Paper No: DS-15-1051; doi: 10.1115/1.4032554 History: Received January 27, 2015; Revised January 06, 2016

Hydromechanical compensators are often integrated with piston-type pumps to produce various control behavior, for example, pressure, load-sensing, power, or torque control. Various hydromechanical mechanisms (e.g., spring forces and load pressure) are found in the industry to ensure the desired effect of the system outputs: swash angle, discharge pressure, and input torque following the reference inputs. In a companion paper (Part I of this paper), a generic linearized state-space model is derived to investigate the pump dynamics and determine the design criteria and parameters. In the study, the state-space equations are used to propose and define the generic compensating control pump to conduct the similar strategies as hydromechanical pumps do. The different control purposes (pressure/flow/power compensating) are accomplished by only manipulating the generic regulate inputs given by an electrical proportional control valve. In the open-circuit pump, the generic controllers are proposed to generate these inputs by using one unique mechanical and electronic architecture to establish various purposes of flow, pressure, torque desired control, and even more control objectives. The controller is developed in accordance with the state-space representation and by following the models of the hydromechanical compensators that can facilitate the correlation verification. The proposed controllers are able to offer more intelligent and cost-saving control strategies for open-circuit piston pumps. To achieve the similar performance as hydromechanical compensators do and implement the comparative study, control gains and settings in the controller can be determined from ones that hydromechanical compensators have. The difference is that electronic signals (swash plate position, pressure, etc.) work as feedbacks together with other control gains to regulate the input signals. For the different control purposes, control gains are able to be set conveniently for the various control operating conditions with combining the certain feedbacks on the same hardware platform that will be value efficient and capable of control intelligence. In the paper, results of predictions made by the model are presented and compared with some experimental data of hydromechanical designs. Further work on the advanced model-based control and estimation is anticipated to be addressed.

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References

Zeiger, G. , and Akers, A. , 1985, “ Torque on the Swash Plate of an Axial Piston Pump,” ASME J. Dyn. Syst., Meas., Control, 107(3), pp. 220–226. [CrossRef]
Manring, N. , 1999, “ The Control and Containment Forces on the Swash Plate of an Axial-Piston Pump,” ASME J. Dyn. Syst., Meas., Control, 121(4), pp. 599–605. [CrossRef]
Manring, N. , 2001, “ The Control Torque on the Swash Plate of an Axial-Piston Pump Utilizing Piston-Bore Springs,” ASME J. Dyn. Syst., Meas., Control, 123(3), pp. 471–478. [CrossRef]
Schoenau, G. J. , Burton, R. T. , and Kavanagh, G. P. , 1990, “ Dynamic Analysis of a Variable Displacement Pump,” ASME J. Dyn. Syst., Meas., Control, 112(1), pp. 122–132. [CrossRef]
Manring, N. D. , and Johnson, R. E. , 1996, “ Modeling and Designing a Variable-Displacement Open-Loop Pump,” ASME J. Dyn. Syst., Meas., Control, 118(2), pp. 267–271. [CrossRef]
Zhang, X. , Cho, J. , Nair, S. S. , and Manring, N. D. , 2001, “ New Swash Plate Damping Model for Hydraulic Axial-Piston Pump,” ASME J. Dyn. Syst., Meas., Control, 123(3), pp. 463–470. [CrossRef]
Hwang, C. , 1999, “ Neural-Network-Based Variable Structure Control of Electrohydraulic Servosystems Subject to Huge Uncertainties Without Persistent Excitation,” IEEE/ASME Trans. Mechatronics, 4(1), pp. 50–59. [CrossRef]
Haggag, S. , Alstrom, D. , Cetinkunt, S. , and Egelja, A. , 2005, “ Modeling, Control, and Validation of an Electro-Hydraulic Steer-by-Wire System for Articulated Vehicle Applications,” IEEE/ASME Trans. Mechatronics, 10(6), pp. 688–692. [CrossRef]
Kaddissi, C. , Kenne, J.-P. , and Saad, M. , 2007, “ Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping,” IEEE/ASME Trans. Mechatronics, 12(1), pp. 12–22. [CrossRef]
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Du, H. , 2002, “ Pressure Control With Power Limitation for Hydraulic Variable Displacement Piston Pumps,” American Control Conference, Anchorage, AK, May 8–10, Vol. 2, pp. 940–945.
Wang, S. , “ Generic Modeling and Control of an Open-Circuit Piston Pump—Part I: Theoretical Model and Analysis,” ASME J. Dyn. Syst., Meas., Control (to be published).
Manring, N. D. , 2005, Hydraulic Control Systems, Wiley, Hoboken, NJ.
SAE J745, 1996, Surface Vehicle Recommended Practice—Hydraulic Power Pump Test Procedure, Society of Automotive Engineers, Warrendale, PA.

Figures

Grahic Jump Location
Fig. 1

Proposed generic compensator

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Fig. 2

Hydromechanical pressure compensator

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Fig. 3

Proposed generic pressure control pump block diagram

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Fig. 4

Schematics of the test stand for the open-circuit pump [14]

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Fig. 5

Experimental and simulated swash plate angle for pressure compensation mode

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Fig. 6

Experimental and simulated discharge pressure for pressure compensation mode

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Fig. 7

Experimental and simulated control pressure for pressure compensation mode

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Fig. 8

Simulated spool displacement for pressure compensation mode

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Fig. 9

Load-sensing compensator

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Fig. 10

Proposed generic load-sensing control block diagram

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Fig. 11

Experimental and simulated swash angle with load-sensing control

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Fig. 12

Experimental and simulated discharge and load pressure with load-sensing control

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Fig. 13

Experimental and simulated control pressure with load-sensing control

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Fig. 14

Simulated spool displacement with load-sensing control

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Fig. 15

Hydromechanical torque limiting control

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Fig. 16

Proposed generic torque limiting control block diagram

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Fig. 17

Experimental and simulated torque limiting performance curves

Tables

Errata

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