Abstract
In this paper, supply pressure control of variable displacement axial piston pumps which are subjected to large extent of nonlinearities and model uncertainties are investigated. A detailed nonlinear swashplate torque model which provides more insights is derived from general hydraulic and mechanical considerations and is used for controller design. Aside from the nonlinear swashplate torque model, this system also has large extent of model uncertainties which makes the control design a challenging task. To prevent the negative influence introduced by parameter variations and uncertain nonlinearities, adaptive robust control (ARC) is applied to synthesize a controller. This controller is able to take into account the effect of parameter uncertainty and uncertain nonlinearities while guarantee a prescribed transient performance and final tracking accuracy. Simulation results show that the proposed controller has a satisfying robust behavior.
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