By Patrick Opdenbosch Project Goals Develop advanced and robust techniques for flow control of...
1
by Patrick Opdenbosch Project Goals Project Goals • Develop advanced and robust techniques for flow Develop advanced and robust techniques for flow control of EHPV™. control of EHPV™. • Experiment with highly non-linear systems. Experiment with highly non-linear systems. • MS/Ph.D. degrees MS/Ph.D. degrees website: http://www.imdl.gatech.edu/opdenbosch Email: [email protected] Advisors: •Dr. Nader Sadegh, Dr. Wayne Book Spring 2003 Advanced Control Techniques for Bi-directional Proportional Flow Control Valve EHPV™ Technology Wheatstone Arrangement to Control Actuator Displacement Wheatstone Arrangement to Control Actuator Displacement Abstract Abstract The current trend in The current trend in construction machinery is construction machinery is to use electrically to use electrically controlled valves (solenoid controlled valves (solenoid valves) instead of manually valves) instead of manually operated hydraulic valves. operated hydraulic valves. One of the benefits is that One of the benefits is that these solenoid valves need these solenoid valves need not be located in the not be located in the operator cab. In addition, operator cab. In addition, the employment of these the employment of these electrically driven valves electrically driven valves facilitates computerized facilitates computerized control of various machine control of various machine functions. The E functions. The E lectro- lectro- Hydraulic Poppet Valves Hydraulic Poppet Valves (EHPV™), a (EHPV™), a kind of solenoid kind of solenoid valves valves , are used herein for , are used herein for flow control in hydraulic flow control in hydraulic machinery. The flow machinery. The flow control through the valve control through the valve is achieved by changing the is achieved by changing the valve restriction valve restriction coefficient via a poppet coefficient via a poppet type orifice with pressure type orifice with pressure compensation. The compensation. The integrated electronics integrated electronics makes practical advanced makes practical advanced control algorithms to control algorithms to further extend the valve further extend the valve capabilities in new ways capabilities in new ways and its application. This and its application. This project will explore new project will explore new algorithms and applications algorithms and applications via theory, simulation and via theory, simulation and operation of the valve in operation of the valve in Hardware In the Loop (HIL) Hardware In the Loop (HIL) simulation facility simulation facility INLET FLOW OUTLET FLOW Control pressure Pilot poppet Solenoid Patented pressure compensation method Main poppet Input current Valve Features: Valve Features: • Zero leak Zero leak • Precise metering control Precise metering control • Variable electronic Variable electronic control control Research Guideline: Research Guideline: 1.Examination of related works. 2.Development of EHPV™ mathematical model. 3.Identification of EHPV™ parameters. 4.Validation of mathematical model. 5.Development of control techniques: • Jacobian linearization. • Input-output linearization. • Optimal control. • Other more advanced techniques. 6.Run simulation on Hardware-in-the- loop. [1] [1] [1] [1] [2] [2] [3] [3] [3] [3] [5] [5] [5] [5] [6] [6] [6b] [6b] [6a] [6a] [6c] [6c] [4] [4] [4] [4] [1] Reservoir [1] Reservoir Tank Tank [2] Pump [2] Pump [3] EHPV™ [3] EHPV™ supply supply [4] Check [4] Check valve valve [5] EHPV™ [5] EHPV™ return return [6] Actuator [6] Actuator [6a] Lower [6a] Lower cavity cavity [6b] Upper [6b] Upper cavity cavity [6c] Piston [6c] Piston Supply Supply Return Return Mathematical Model for a Single EHPV™ from Equilibrium State Mathematical Model for a Single EHPV™ from Equilibrium State b b p m p p b b a a m M out b v p e p p p p p p b b p m p p p a a m r s m m m a b s m a m m m m m m m p p p m m P P X P X x X x R P P P P X x R Y Q D u m K X m a X m b X m k X P P X P X x X x R X P P P X x D R X x x a m P P a P a X m a X m b X m k X x x P x x X X X X X 3 1 4 1 3 5 4 5 3 1 4 3 1 1 0 1 , , 1 , 3 1 , 2 1 2 5 4 3 2 1 0 0 0 0 u u v P P p p x x m x x p p Q Q a Q Q b EHPV™ States, Flows, and Input from Equilibrium EHPV™ States, Flows, and Input from Equilibrium 0 1 2 3 4 5 6 7 8 9 10 37.5 37.6 37.7 37.8 37.9 38 38.1 38.2 38.3 38.4 Tim e [s] O utputFlow [gpm ] Simulation of Valve Response Simulation of Valve Response About About Equilibrium Flow for a PWM Equilibrium Flow for a PWM Input Current Input Current Sponsors: Sponsors: HUSCO International and FPMC Center HUSCO International and FPMC Center
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Transcript of By Patrick Opdenbosch Project Goals Develop advanced and robust techniques for flow control of...
by Patrick Opdenbosch
Project GoalsProject Goals• Develop advanced and robust techniques for flow control of EHPV™.Develop advanced and robust techniques for flow control of EHPV™.• Experiment with highly non-linear systems.Experiment with highly non-linear systems.• MS/Ph.D. degreesMS/Ph.D. degrees
website: http://www.imdl.gatech.edu/opdenboschEmail: [email protected]:•Dr. Nader Sadegh, Dr. Wayne BookSpring 2003
Advanced Control Techniques for Bi-directional Proportional Flow Control ValveEHPV™ Technology
Wheatstone Arrangement to Control Actuator DisplacementWheatstone Arrangement to Control Actuator Displacement
AbstractAbstract
The current trend in construction The current trend in construction machinery is to use electrically machinery is to use electrically controlled valves (solenoid valves) controlled valves (solenoid valves) instead of manually operated instead of manually operated hydraulic valves. One of the benefits hydraulic valves. One of the benefits is that these solenoid valves need is that these solenoid valves need not be located in the operator cab. In not be located in the operator cab. In addition, the employment of these addition, the employment of these electrically driven valves facilitates electrically driven valves facilitates computerized control of various computerized control of various machine functions. The Emachine functions. The Electro-lectro-Hydraulic Poppet Valves (EHPV™), Hydraulic Poppet Valves (EHPV™), a a kind of solenoid valveskind of solenoid valves, are used , are used herein for flow control in hydraulic herein for flow control in hydraulic machinery. The flow control through machinery. The flow control through the valve is achieved by changing the valve is achieved by changing the valve restriction coefficient via a the valve restriction coefficient via a poppet type orifice with pressure poppet type orifice with pressure compensation. The integrated compensation. The integrated electronics makes practical electronics makes practical advanced control algorithms to advanced control algorithms to further extend the valve capabilities further extend the valve capabilities in new ways and its application. in new ways and its application. This project will explore new This project will explore new algorithms and applications via algorithms and applications via theory, simulation and operation of theory, simulation and operation of the valve in Hardware In the Loop the valve in Hardware In the Loop (HIL) simulation facility currently (HIL) simulation facility currently under constructionunder construction
INLET FLOW
OUTLET FLOW
Control pressure
Pilot poppet
Solenoid
Patented pressurecompensation
method
Main poppet
Input current
Valve Features:Valve Features:• Zero leakZero leak
• Precise metering controlPrecise metering control
• Variable electronic controlVariable electronic control
Research Guideline:Research Guideline:
1.Examination of related works.2.Development of EHPV™ mathematical model.3.Identification of EHPV™ parameters.4.Validation of mathematical model.5.Development of control techniques:
• Jacobian linearization.• Input-output linearization.• Optimal control.• Other more advanced techniques.
6.Run simulation on Hardware-in-the-loop.
[1][1] [1][1]
[2][2] [3][3]
[3][3]
[5][5]
[5][5]
[6][6]
[6b][6b]
[6a][6a]
[6c][6c]
[4][4]
[4][4][1] Reservoir Tank[1] Reservoir Tank[2] Pump[2] Pump[3] EHPV™ supply[3] EHPV™ supply[4] Check valve[4] Check valve[5] EHPV™ return[5] EHPV™ return[6] Actuator[6] Actuator[6a] Lower cavity[6a] Lower cavity[6b] Upper cavity[6b] Upper cavity[6c] Piston[6c] Piston SupplySupply ReturnReturn
Mathematical Model for a Single EHPV™ from Equilibrium StateMathematical Model for a Single EHPV™ from Equilibrium State
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EHPV™ States, Flows, and Input from EquilibriumEHPV™ States, Flows, and Input from Equilibrium
0 1 2 3 4 5 6 7 8 9 1037.5
37.6
37.7
37.8
37.9
38
38.1
38.2
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Time [s]
Out
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[gpm
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Simulation of Valve Response About Simulation of Valve Response About Equilibrium Flow for a PWM Input CurrentEquilibrium Flow for a PWM Input Current Sponsors: Sponsors: HUSCO International and FPMC CenterHUSCO International and FPMC Center
