Robust controller design for a variable displacement hydraulic motor

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

Robust controller design for a variable displacement hydraulic motor

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

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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
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
City	Dallas, TX, USA
Period	11/16/97 → 11/21/97

ASJC Scopus subject areas

Fluid Flow and Transfer Processes
Mechanical Engineering

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Plahuta, M. J., Franchek, M. A., & Stern, H. (1997). Robust controller design for a variable displacement hydraulic motor. In W. S. Chang, A. Gopinath, S. S. Sadhal, E. H. Trinh, C. J. Kim, & A. et al (Eds.), American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST (Vol. 4, pp. 169-176). Institute of Electrical and Electronics Engineers Inc..

Robust controller design for a variable displacement hydraulic motor. / Plahuta, Michael J.; Franchek, Matthew A.; Stern, Hansjoerg.

American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST. ed. / W.S. Chang; A. Gopinath; S.S. Sadhal; E.H. Trinh; C.J. Kim; al et al. Vol. 4 Los Alamitos, CA, United States : Institute of Electrical and Electronics Engineers Inc., 1997. p. 169-176.

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Plahuta, MJ, Franchek, MA & Stern, H 1997, Robust controller design for a variable displacement hydraulic motor. in WS Chang, A Gopinath, SS Sadhal, EH Trinh, CJ Kim & A et al (eds), American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST. vol. 4, Institute of Electrical and Electronics Engineers Inc., Los Alamitos, CA, United States, pp. 169-176, Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition, Dallas, TX, USA, 11/16/97.

Plahuta MJ, Franchek MA, Stern H. Robust controller design for a variable displacement hydraulic motor. In Chang WS, Gopinath A, Sadhal SS, Trinh EH, Kim CJ, et al A, editors, American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST. Vol. 4. Los Alamitos, CA, United States: Institute of Electrical and Electronics Engineers Inc. 1997. p. 169-176

Plahuta, Michael J. ; Franchek, Matthew A. ; Stern, Hansjoerg. / Robust controller design for a variable displacement hydraulic motor. American Society of Mechanical Engineers, The Fluid Power and Systems Technology Division (Publication) FPST. editor / W.S. Chang ; A. Gopinath ; S.S. Sadhal ; E.H. Trinh ; C.J. Kim ; al et al. Vol. 4 Los Alamitos, CA, United States : Institute of Electrical and Electronics Engineers Inc., 1997. pp. 169-176

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