Robust μ -Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves

Jordan Kralev, Alexander Mitov and Tsonyo Slavov
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Jordan Kralev: Department of Systems and Control, Technical University of Sofia, 1000 Sofia, Bulgaria
Alexander Mitov: Department of Hydroaerodynamics and Hydraulic Machines, Technical University of Sofia, 1000 Sofia, Bulgaria
Tsonyo Slavov: Department of Systems and Control, Technical University of Sofia, 1000 Sofia, Bulgaria

Energies, 2021, vol. 14, issue 16, 1-21

Abstract: Hydraulic spool valve, pilot operated with bi-state switching micro valves is a low-cost alternative to the conventional proportional and high-response valves. However, high-frequency switching causes variations in the control flow which limits achievable spool tracking error. This paper presents the design of a robust μ -controller for the spool position reference tracking synthesized with D-K iterative procedure. Furthermore, in order to reduce wind-up effects in the closed-loop, the μ -controller is decomposed to a canonical observer and state feedback components which allows explicit introduction of the saturated control signal in the controller equations. The uncertainty model required for the μ -synthesis is inferred from the nonlinear hydraulic model by identification of a Box–Jenkins model set characterized by its parameter covariance matrix. The regulator is implemented in a 32-bit programmable logic controller (PLC) and its performance is experimentally verified on a laboratory test bench of electro-hydraulic power steering system.

Keywords: electro-hydraulic spool valve; robust control; micro valves; uncertain system identification (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
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