Autors: Slavov, T. N., Mitov, A. S., Kralev, J. K.
Title: Lyapunov-Based Two-Degree-of-Freedom Model Reference Adaptive Control of Axial-Piston Pump
Keywords: axial-piston pump, Lyapunov, model reference adaptive control

Abstract: The article is devoted to the synthesis, implementation, simulation and experimental study of a real-time Lyapunov-based two-degree-of-freedom model reference adaptive controller (MRAC) for an axial-piston pump. The controller of the developed real-time system determinates control signal values applied to the electro-hydraulic proportional valve. The proportional valve is an actuator for driving the swash plate swivel angle of the pump. The swash plate swivel angle determines the displacement volume of the flow rate of the pump. The MRAC is synthesized based on the experimentally identified mathematical model. To conduct the identification and experimental investigation of the controller, the authors have used an existing laboratory test setup. The comparison of the designed MRAC with conventional PI controller is performed. The control performance analysis is based on integral square error (ISE) in transient responses of the pump flow rate at different flow rate references and loads.

References

  1. Findeisen D. Helduser S. Ölhydraulik Springer Berlin/Heidelberg, Germany 2015
  2. Frankenfield T. Using Industrial Hydraulics Rexroth Worldwide Hydraulics Penton Publishing Inc. New York, NY, USA 1984
  3. Ivantysyn J. Ivantysynova M. Hydrostatic Pumps and Motors: Principles, Design, Performance, Modelling, Analysis, Control and Testing Academia Books International New Delhi, India 2001
  4. Manring N. Fluid Power Pumps and Motors: Analysis, Design, and Control McGraw-Hill Education New York, NY, USA 2013
  5. Kordak R. Hydrostatic Drives with Control of the Secondary Unit The Hydraulic Trainer Vol.6 Mannesmann Rexroth GmbH Lohr a. Main, Germany 1996 Volume 6
  6. Tonyan M. Electronically Controlled Proportional Valves Marcel Dekker Inc. New York, NY, USA 1985
  7. Sun Z. Khalil M.K.B. Yurkevich V.D. Svoboda J. Bhat R.B. Implementation of single feedback control loop for constant power regulated swash plate axial-piston pumps Int. J. Fluid Power 2002 3 27 36
  8. Zeng Q. Wan L. Xiao Y. Dynamic Response Analysis of the Bi-Tandem Axial-piston Pump with Dual-Loop Positive Flow Control under Pressure Disturbance Actuators 2023 12 260
  9. Feng Y. Jian Z. Li J. Tao Z. Wang Y. Xue J. Advanced Control Systems for Axial-piston Pumps Enhancing Variable Mechanisms and Robust Piston Positioning Appl. Sci. 2023 13 9658 10.3390/app13179658
  10. Petkov P. Slavov T.S. Kralev J. Design of Embedded Robust Control Systems Using MATLAB®/Simulink®IET Control London, UK 2018
  11. Mitov A. Kralev J. Slavov T.S. Angelov I. Design of Embedded Control System for Open Circuit Axial-piston Pump Proceedings of the 2022 22nd International Symposium on Electrical Apparatus and Technologies (SIELA) Bourgas, Bulgaria 1–4 June 2022
  12. Skarpetis M.G. Automatic Control of Hydraulic Systems Nova Science Publishers Inc. Hauppauge, NY, USA 2023
  13. Haggag S.A. Robust control and modelling of a heavy equipment variable-displacement pump hydraulic system Int. J. Heavy Veh. Syst. 2011 18 288 302 10.1504/IJHVS.2011.041595
  14. Park S. Lee J. Kim J. Robust control of the pressure in a control-cylinder with direct drive valve for the variable-displacement axial-piston pump Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 2009 223 455 465 10.1243/09596518JSCE677
  15. Zeiger G. Akers A. The Application of Linear Optimal Control Techniques to Axial-piston Pump Controller Design SAE Technical Papers SAE International Warrendale, PA, USA 1989
  16. Lin S. Akers A. Optimal control theory applied to pressure-controlled axial-piston pump design J. Dyn. Syst. Meas. Control Trans. ASME 1990 112 475 481 10.1115/1.2896167
  17. Berg H. Ivantysynova M. Design and testing of a robust linear controller for secondary controlled hydraulic drive Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 1999 213 375 385 10.1243/0959651991540223
  18. Zeiger G. Akers A. Dynamic Analysis of an Axial-piston Pump Swashplate Control Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 1986 200 49 58 10.1243/PIME_PROC_1986_200_093_02
  19. Berg H. Ivantysynova M. Robust closed loop speed and angular position control for variable-displacement hydraulic motors supplied from a constant pressure mains system Olhydraulik Und Pneum. 1999 43 405 410
  20. Zhang R. Alleyne A. Prasetiawan E. Modeling and H2/H∞MIMO control of an earthmoving vehicle powertrain J. Dyn. Syst. Meas. Control Trans. ASME 2002 124 625 636 10.1115/1.1515326
  21. Lennevi J. Palmberg J.-O. Application and implementation of LQ design method for the velocity control of hydrostatic transmissions Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 1995 209 255 268 10.1243/PIME_PROC_1995_209_393_02
  22. Heybroek K. Larsson J. Palmberg J.-O. Open Circuit Solution for Pump Controlled Actuators Proceedings of the 4th FPNI-PhD Symposium Sarasota, FL, USA 13–17 June 2006 27 40
  23. Zhang P. Li Y. Research on Control Methods for the Pressure Continuous Regulation Electro-hydraulic Proportional Axial-piston Pump of an Aircraft Hydraulic System Appl. Sci. 2019 9 1376 10.3390/app9071376
  24. Kemmetmüller W. Fuchshumer F. Kugi A. Nonlinear pressure control of self-supplied variable-displacement axial-piston pumps Control Eng. Pract. 2010 18 84 93 10.1016/j.conengprac.2009.09.006
  25. Wei J. Guo K. Fang J. Tian Q. Nonlinear supply pressure control for a variable-displacement axial-piston pump Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 2015 229 614 624 10.1177/0959651815577546
  26. Mitov A. Slavov T. Kralev J. Comparison of Advanced Multivariable Control Techniques for Axial-Piston Pump Processes 2024 12 1797 10.3390/pr12091797
  27. Landau Y.D. Adaptive Control: The Model Reference Approach CRC Press Boca Raton, FL, USA 1979
  28. Åström K.J. Adaptive Control in Mathematical System Theory: The Influence of RE Kalman Springer Berlin/Heidelberg, Germany 1995
  29. Helian B. Mustalahti P. Mattila J. Chen Z. Yao B. Adaptive robust pressure control of variable-displacement axial-piston pumps with a modified reduced-order dynamic model Mechatronics 2022 87 102879 10.1016/j.mechatronics.2022.102879
  30. Han L. Wang H.J. Li D.Y. Yao Y. MRAC for Direct Drive Electronic-Hydraulic Servo System Adv. Mater. Res. 2012 433–440 4142 4148 10.4028/www.scientific.net/AMR.433-440.4142
  31. Plummer A.R. Vaughan N.D. Robust adaptive control for hydraulic servosystems J. Dyn. Syst. Meas. Control. 1996 118 237 244 10.1115/1.2802309
  32. Wei X. Wang L. Ni X. Speed control strategy for pump-motor hydraulic transmission subsystem in hydro-mechanical continuously variable transmission J. Mech. Sci. Technol. 2021 35 5665 5679 10.1007/s12206-021-1034-x
  33. Strano S. Terzo M. Non-Linear Model Reference Adaptive Control of a Hydraulic Actuator in Presence of Parametric Uncertainty Proceedings of the RAAD 2012: 21th International Workshop on Robotics in Alpe-Adria-Danube Region Naples, Italy 10–13 September 2012 ESA Paris, France 2012
  34. Edge K.A. Hu F. Constant pressure control of a piston pump using a model reference adaptive control scheme Proceedings of the 11th Aachen Colloquium on Fluid Power Technology Aachen, Germany 8–10 March 1994
  35. Busquets E. Ivantysynova M. Handroos H. Discontinuous projection-based adaptive robust control for displacement-controlled actuators J. Dyn. Syst. Meas. Control Trans. ASME 2015 137 8 10.1115/1.4030064
  36. Guo K. Wei J. Adaptive robust control of variable-displacement pumps Proceedings of the American Control Conference Washington, DC, USA 17–19 June 2013
  37. Koivumäki J. Mattila J. Adaptive and nonlinear control of discharge pressure for variable-displacement axial-piston pumps J. Dyn. Syst. Meas. Control Trans. ASME 2017 139 10 10.1115/1.4036537
  38. Rexroth Bosch Group Pressure and Flow Control System Technical Data Sheet, RE 30630 Rexroth Bosch Group Lohr am Main, Germany 2015
  39. Rexroth Bosch Group Proportional Directional Valves, Direct Operated, with Electrical Position Feedback as Pilot Control Valve for Control Systems SY(H)DFE Technical Data Sheet, RE 29016 Rexroth Bosch Group Lohr am Main, Germany 2019
  40. Mitov A. Slavov T. Kralev J. Rapid Prototyping of H∞Algorithm for Real-Time Displacement Volume Control of Axial-piston Pumps Algorithms 2023 16 120 10.3390/a16020120
  41. Slotine J. Li W. Applied Nonlinear Control Prentice Hall Englewood Cliffs, NJ, USA 1991
  42. Mitov A. Slavov T. Kralev J. Angelov I. Model reference adaptive control of axial-piston pump IOP Conf. Ser. Earth Environ. Sci. 2025 1532 012016 10.1088/1755-1315/1532/1/012016
  43. Mitov A. Slavov T. Kralev J. Real-Time Gain Scheduling Controller for Axial-piston Pump Based on LPV Model Actuators 2025 14 421 10.3390/act14090421
  44. Danfoss Plus+1 Controllers MC012-020 and 022 Data Sheet, 11077167, Rev DA Danfoss Nordborg, Denmark 2013

Issue

Mathematics, vol. 13, 2025, Albania, https://doi.org/10.3390/math13213513

Вид: статия в списание, публикация в издание с импакт фактор, публикация в реферирано издание, индексирана в Scopus и Web of Science