Robust controller design for a variable displacement hydraulic motor

Michael J. Plahuta, Matthew A. Franchek, Hansjoerg Stern

Research output: Chapter in Book/Report/Conference proceedingChapter

4 Scopus citations


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 languageEnglish
Title of host publicationAmerican Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST
EditorsW.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al
Place of PublicationLos Alamitos, CA, United States
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
StatePublished - Dec 1 1997
EventProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA
Duration: Nov 16 1997Nov 21 1997


OtherProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
CityDallas, TX, USA

ASJC Scopus subject areas

  • Fluid Flow and Transfer Processes
  • Mechanical Engineering


Dive into the research topics of 'Robust controller design for a variable displacement hydraulic motor'. Together they form a unique fingerprint.

Cite this