Abstract
An analysis of Model Predictive Control with Integral Action applied to Digital Displacement Cylinders
Highlights
Digital displacement cylinders are cylinders with more than two chambers
It is further concluded that unknown software delays and unknown changes in mass have the largest effect on system performance
Two algorithms are used in the control of multi-chamber cylinders - Force Selection Algorithm (FSA) used in Huova et al (2010) and Hansen et al (2011), and Model Predictive Control (MPC) used in Donkov et al (2018), Hansen et al (2018)
Summary
The differently sized areas allow the cylinder to change its force output, by connecting them to low or high pressure lines Linjama et al (2009). Switching between these forces can allow the cylinder to follow a desired trajectory in an energy efficient way. G(x ) is a non-linear function describing the effects of the different friction forces, where Fc is the Coulomb friction, Fs is the static friction, and vstr is the Stribeck velocity The parameters for this friction model have been obtained experimentaly for this specific cylinder by Ho et al in Ho Cho et al (2016).
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