This paper presents the speed control of a variable-displacement hydraulic motor on a constant pressure network, which is noted for its high system efficiency, fast dynamic response, and energy recovery capability. The speed control and response characteristics of the conventional cascade PI controller are considerably affected by load torque disturbances, variations in system parameters, and input magnitude. To obtain robust speed control under such conditions, the load torque is estimated by an observer and compensated for by a feedforward loop, and a windup compensator is used to prevent windup phenomena due to saturation of the regulating piston and integral controller. It is shown by experiment that improved speed control can be obtained with the proposed controller in spite of load torque disturbances, variations in system parameters, and input magnitude. [S0022-0434(00)00401-9]
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March 2000
Technical Papers
Robust Speed Control of a Variable-Displacement Hydraulic Motor Considering Saturation Nonlinearity
Chul Soo Kim, Chief Research Engineer,,
Chul Soo Kim, Chief Research Engineer,
Technical Research Institute, Hyundai Precision & Ind. Co., Ltd., Seoul, Korea
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Chung Oh Lee, Professor,
Chung Oh Lee, Professor,
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-gu, Taejon, Korea
Search for other works by this author on:
Chul Soo Kim, Chief Research Engineer,
Technical Research Institute, Hyundai Precision & Ind. Co., Ltd., Seoul, Korea
Chung Oh Lee, Professor,
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-gu, Taejon, Korea
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division April 21, 1997. Associate Technical Editor: R. S. Chandran.
J. Dyn. Sys., Meas., Control. Mar 2000, 122(1): 196-201 (6 pages)
Published Online: April 21, 1997
Article history
Received:
April 21, 1997
Citation
Soo Kim, C., and Oh Lee, C. (April 21, 1997). "Robust Speed Control of a Variable-Displacement Hydraulic Motor Considering Saturation Nonlinearity ." ASME. J. Dyn. Sys., Meas., Control. March 2000; 122(1): 196–201. https://doi.org/10.1115/1.482442
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