Abstract
Presented in this paper is the robust control of a variable displacement hydraulic motor (VDHM). A feedback control structure consisting of two nested loops is employed. The inner feedback loop controls the position of the rocker arm which actuates the wobbler plate of the motor. The outer feedback loop regulates the motor shaft velocity such that shaft speed is guaranteed at steady state despite external torque loads. The control loops are closed in succession closing the inner loop first. For each loop design, step response data is collected from a VDHM laboratory test stand to generate analytical systems level models. Based on these models, feedback controllers are designed using classical loop shaping techniques. Feedback control, as opposed to feedforward control, maintains motor shaft velocity under nonpredictive torque loading conditions. In addition, the feedback structure eliminates the need for extensive system calibration when considering system parameter changes that result from component aging.
Original language | English |
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Title of host publication | American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST |
Editors | W.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al |
Place of Publication | Los Alamitos, CA, United States |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 169-176 |
Number of pages | 8 |
Volume | 4 |
State | Published - Dec 1 1997 |
Event | Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA Duration: Nov 16 1997 → Nov 21 1997 |
Other
Other | Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition |
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City | Dallas, TX, USA |
Period | 11/16/97 → 11/21/97 |
ASJC Scopus subject areas
- Fluid Flow and Transfer Processes
- Mechanical Engineering