Abstract
This paper concerns the stability issue of pump-controlled single-rod cylinders, known as mode switching. First, a review of the topic is provided. Thereafter, the most recently proposed solution for the elimination of mode switching is investigated and shown to result in unstable behavior under certain operating conditions. A theoretical analysis is provided demonstrating the underlying mechanisms of this behavior. Based on the analysis, a novel control strategy is proposed and investigated numerically. Proper operation and stability are demonstrated for a wide range of operating conditions, including situations under which the most recently proposed solution results in unstable behavior and loss of control over the actuator.
Highlights
Pump-control of hydraulic actuators is a promising technology offering several advantages over traditional valve-controlled systems
The stability of a pump-controlled single-rod cylinder using the state switching law (SSL) is investigated in detail
A number of operating conditions are presented in which the use of the SSL leads to mode switching in varying degrees, with the most severe cases resulting in loss of control over the actuator
Summary
Pump-control of hydraulic actuators is a promising technology offering several advantages over traditional valve-controlled systems. The switching valve arrangement may oscillate, reversing its connections rapidly, even for a constant input (i.e., constant velocity of the electric motor, or displacement of the pump) This results in oscillations of the pressures and velocity of the actuator, which may lead to reduced performance and loss of control over the actuator [8,9,10]. Experimental results controlling a load of 367 kg were presented with stable four-quadrant operation demonstrated for the operating conditions investigated [19,20] This is the most recently proposed control strategy for single-pump circuits and is referred to here as the steady-state switching law (SSL).
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