Abstract
The digitalisation of hydraulic drives leads to a simpler hardware, but asks for novel and sometimes even complex control strategies. This paper deals with the application of sliding mode control to a digital hydraulic drive. The sliding mode control is an approach for nonlinear systems with a discontinuous actuating variable, which makes it a favourable controller particularly for hydraulic switching control. An additional advantage is the robustness compared to the variation of system parameters. A linear hydraulic drive with a specific digital circuit for which an experimental setup, called "Digi Actuator" exists, is used as example for this case study. The mathematical system model is transformed to Byrnes-Isidori normal form, for which a derivation of the sliding mode controller can be performed in a systematic way. The simulation results confirm the known advantages of this control concept, robustness even for quite nonlinear systems.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the Fifth Workshop on Digital Fluid Power - DFP12, Tampere Finland |
| Editors | Arto Laamanen and Matti Linjama |
| Pages | 15-26 |
| Number of pages | 12 |
| Publication status | Published - Oct 2012 |
Fields of science
- 203013 Mechanical engineering
- 203 Mechanical Engineering
- 203015 Mechatronics
- 102009 Computer simulation
JKU Focus areas
- Mechatronics and Information Processing