PID feed-forward controller used for fault-tolerant control of the hydraulic system

What is it about?

The paper focuses on the design and implementation of a fault-tolerant control strategy for a closed-loop hydraulic system. It introduces an offline nonlinear feed-forward controller, combined with a PID controller, to address system faults. The feed-forward control, developed using subsystem models, incorporates a proportional pressure relief valve (PRV) loading on the loading pump. However, it does not consider factors such as oil compressibility, valve dynamics, and leakages in the hydraulic circuit components. To compensate for these unmodeled features and modeling approximations, real-time PID feedback control is employed. External torque disturbances, input magnitude changes, and system parameters like inertia load and supply pressure significantly influence the speed response characteristics.

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Photo by Chad Kirchoff on Unsplash

Photo by Chad Kirchoff on Unsplash

Why is it important?

The paper presents the development of an offline nonlinear feed-forward control system with proportional pressure relief valve (PRV) loading on the loading pump. Unlike previous models, this control system considers factors such as oil compressibility, valve dynamics, and leakages associated with the hydraulic circuit components. The speed response characteristics are significantly affected by disturbances such as external torque, changes in input magnitude, and system parameters like inertia load and supply pressure. To compensate for unmodeled features and modeling approximations, real-time PID feedback control is employed. The control model demonstrates excellent agreement between the demanded and real-time speed responses under various loading conditions, including step load, sinusoidal load, variable load, and triangular load.

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