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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Jordan Kralev & Alexander Mitov & Tsonyo Slavov, 2021. "Robust μ -Controller for Hydraulic Spool Valve, Pilot Operated with Switching Micro Valves," Energies, MDPI, vol. 14(16), pages 1-21, August.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:16:p:4817-:d:610205
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