Robert Prabel
University of Rostock, Rostock, Germany
Harald Aschemann
University of Rostock, Rostock, Germany
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http://dx.doi.org/10.3384/ecp17144352Published in: Proceedings of 15:th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden
Linköping Electronic Conference Proceedings 144:35, p. 352-359
Published: 2017-12-20
ISBN: 978-91-7685-369-6
ISSN: 1650-3686 (print), 1650-3740 (online)
This paper presents a decentralised control approach for the hydraulic motor torque provided by a hydrostatic transmission. Based on a control-oriented model of the hydrostatic transmission, a quasi-linear state-space representation with both state-dependent and input-dependent matrices is derived. Using extended linearisation techniques, a combined feedforward and feedback control is designed. Furthermore, a sliding-mode observer estimates unmeasurable states as well as disturbances. The estimates for the disturbances – an external load torque and a leakage oil volume flow – can be used for a disturbance rejection. The proposed overall control structure is investigated thoroughly in simulations and, afterwards, implemented as well as validated on a dedicated test rig.
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