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TMHP51
IEI / Fluid and Mechanical Engineering Systems
____________________________________________________________________________________
K-E Rydberg
A linear valve controlled position servo is shown in Figure 1. Leakage flow over the
piston with the flow-pressure coefficient Cp and a viscous friction coefficient Bp are
included in the model. The servo amplifier (controller) is proportional with the gain Ksa.
Fix reference
Cp
be
Ap
P1 V1
xp
Bp
be
Ap
Mt
V2 P2
FL
qL2
qL1
Position
transducer
xv
Servo
uc + amplifier i
Ksa
u f
Kf
Ps = const.
The transfer functions (in the frequency domain) of the components in the position
servo are illustrated in Figure 2. Threshold and saturation in the servo valve are
included.
FL
Vt
Kce
+
s
1
Ap2 4 be K ce
Threshold
uc
Ksa
Saturation
iv imax
ir
ein
Kqi
1
Ap 1 + s +
wv
Au(s)
1
xp 1 xp
s 2 + 2 dh s +
s
1
wh2 wh
Kf
Figure 2: Block-diagram of a linear position servo including valve dynamics and non-linearitys
4 e A p2
1
1+
and h =
K ce
Ap
eMt
M tVt
Vt
The parameter values of the system are as follows:
Ap = 2,5.10-3 m2
e = 1,0109 Pa
Kf = 25 V/m
Bp = 0
-11
5
Kqi = 0,02 m3/As
Kce = 1,010 m /Ns
Mt = 1500 kg
Ksa = 0,1 A/V
-3
3
v = 1/v = 0,005 s
Vt = 1,010 m
Bp
4 Ap
Vt
.
eM t
K-E Rydberg
Amplitude [dB]
Kv
= dh = 0,155
wh
Am
Frequency [w/wh]
Figure 3: Bode-diagram of the open loop gain of the position servo depicted in Figure 2
when the servo valve is assumed to be very fast
10
Amplitude
Amplitude
10
10
10
10
10
10
10
10
10
10
50
50
100
10
150
Phase
150
Phase
10
Frequency [rad/s]
100
200
250
200
250
300
300
350
0
10
10
Frequency [rad/s]
350
1
10
10
Frequency [rad/s]
10
400
0
10
10
10
10
Frequency [rad/s]
Figure 4: Bode-diagram of the open loop gain of a position servo with a) fast valve and b) slow valve
From Figure 4 it can be recognised that the open loop gain and thereby the amplitude
margin will be change because of the valve dynamics. For a slow valve (v < h) the
open loop gain can be approximated as
Kv
Au
, which gives Kvmax = v for a reasonable stability margin.
(1 + s / v )s
K-E Rydberg
Vt
DFL Kce
1 + 4 b K s 2
Ap
e ce
1
s 2 + 2 dh s +
1
wh2 wh
Saturation
Kqi
1
Ap 1 + s
wv
xp
1
s
DXp
Threshold
imax
ein
Ksa
Kf
FL
. If the valve dynamics
X p
s
s 2 2 h
2 h 2
s
+
1
+
s
+
1
+
s
+
+
1
2
A p2 K v h2 K v h
A p2 K v
Kv
h
h
Sc = K v
Kv
V
K ce
K ce
s
t
1+
s
1 +
4 e K ce
2 h h
s3
where the steady state loop gain Kv = KsaKqiKf/Ap. The closed loop stiffness including
valve dynamics is shown in Figure 6. The amplitude curve is normalised as
A p2
Sc
, where K s = K v
Ks
K ce
2
10
Amplitude, (Sc/Ks)
Amplitude, (Sc/Ks)
10
10
10
10
10
10
10
10
10
10
10
10
10
200
150
Phase
150
Phase
10
Frequency [rad/s]
200
100
50
0
0
10
10
Frequency [rad/s]
100
50
0
10
10
Frequency [rad/s]
10
50
0
10
10
10
10
Frequency [rad/s]
Figure 6: Bode-diagram of the closed loop stiffness with a) fast valve and b) slow valve
In Figure 6b) it can be seen that the valve dynamics reduce the stiffness just at
frequencies around the bandwidth of the valve (v = 20 rad/s).
K-E Rydberg
The threshold of the servo valve will also cause a position error Xp. If the threshold is
in
in the position error is X p =
, where in is nominal valve input current.
K sa K f
2.
The load pressure feedback is used to increase the hydraulic damping in the system. A
negative load pressure signal acts in the same way as a Kc-value (flow-pressure
coefficient) of the servo valve. Load pressure feedback can be of proportional or
dynamic type. Proportional pressure feedback is shown in Figure 7.
Proportional pressure feedback
Kpf
-
uc +
Ksa
Gv Kqi
+
-
1
Kce + Vt s / 4be
PL
Ap
FL
-
1
Mt s
xp 1_ xp
s
Ap
Kf
Figure 7: Block-diagram of a linear position servo with proportional pressure feedback (Bp = 0)
Load pressure feedback will mainly increase the hydraulic damping. It works just as a
Kc-value. In the above block diagram the proportional pressure feedback will increase
the effective Kc-value as follows, K ce' = K ce + K pf K sa Gv K qi . The resulting bode
diagram of the open loop gain (Au(s)) and the closed loop stiffness (Sc(s)) for a
hydraulic damping of h = 0,46 is shown in Figure 8. One negative effect of
proportional pressure feedback is that the steady state stiffness will be reduced.
2
10
Amplitude, (Sc/Ks)
Amplitude
10
10
10
10
10
10
10
10
10
10
10
10
Frequency [rad/s]
10
10
Frequency [rad/s]
50
200
100
150
200
Phase
Phase
150
250
300
100
50
350
400
0
10
10
10
Frequency [rad/s]
10
0
0
10
10
10
10
Frequency [rad/s]
Figure 8: Open loop gain (to the left) and closed loop stiffness of a position servo
with load pressure feedback
Dynamic pressure feedback is shown in Figure 9. The idea of using dynamic pressure
feedback is that the feedback signal shall reach its maximum value at a frequency,
which has to be damped (the hydraulic frequency h). Therefore, the pressure signal
K-E Rydberg
will be high-pass filtered. At low frequencies the pressure feedback signal is low and
the reduction of the steady state stiffness will be very low compared to proportional
pressure feedback.
Dynamic pressure feedback
s/wf
s/wf + 1
uc
Ksa
Kpf
Gv Kqi +
1
Kce +
Vt
s
4be
PL
Ap
FL
-
1
Mt s
1
_ xp
s
xp
Ap
Kf
Figure 9: Block-diagram of a linear position servo with dynamic pressure feedback (Bp = 0)
3.
Acceleration feedback works in principal as dynamic pressure feedback. When the load
starts oscillate there will be a feedback signal, which increase the hydraulic damping
just at the resonance frequency. The good thing with acceleration feedback is that the
steady state stiffness will not be affected. An angular position servo with acceleration
feedback is shown in Figure 10 and the corresponding block-diagram is expressed in
Figure 11.
Kf
Uc
Kac
Greg
V1
ps
..
qm
qm
Jt
pL
TL
V2
From Figure 11 the effect of the acceleration feedback can be expressed as a change in
1
the second order transfer function of the hydraulic system, Gh ( s ) = 2
.
2 h
s
+
s +1
2
1
K qi
2 h
+
+
K
K
Gv ( s ) s + 1
ac
sa
2
Dm
h h
s2
K-E Rydberg
TL
Vt
Kce
+
s
1
Dm2 4 be K ce
uc
Ksa
iv
Kqi
1
Dm 1 + s +
wv
.
1
qm
s 2 + 2 dh s +
1
wh2 wh
Kac.s
Acceleration feedback
Kf
Position feedback
1 qm
s
Figure 11a: Block-diagram of an angular position servo with acceleration feedback (Bm = 0)
With h =
4 e Dm2
, Gv(s) = 1,0 and Bm = 0 the effective hydraulic damping (including
J tVt
K ce
Dm
eJ t
Vt
+ K ac K sa K qi
e
Vt J t
Constant acceleration feedback gain (Kac) means that the total damping ( h* ) varies
according to variations in the inertia load Jt, as shown in Figure 11b.
Figure 11b: Damping in an angular position servo with acceleration feedback (Bm = 0)
4.
Pressure and acceleration feedback is used to increase the hydraulic damping and this
makes it possible to increase the steady state loop gain Kv and the closed loop stiffness
will increase. Another way to increase the stiffness of a position servo is to introduce a
velocity feedback. A block-diagram of a linear position servo with velocity feedback is
shown in Figure 12.
K-E Rydberg
FL
Vt
Kce
+
s
1
Ap2 4 be K ce
Threshold
uc
Ksav
Saturation
Kqi
1
Ap 1 + s +
wv
iv imax
ir
ein
1
xp 1 xp
s 2 + 2 dh s +
s
1
wh2 wh
Kfv
Velocity feedback
Kf
Position feedback
Figure 12: A linear valve controlled position servo with velocity feedback
If the bandwidth of the valve is relatively high and threshold and saturation is neglected
the velocity feedback will give the effect on the hydraulic resonance frequency and
damping as shown in Figure 13.
FL
Vt
Kce
1 + 4 b K s
2
Ap
e ce
uc
Ksav
Kqi
Ap
iv
Kf
Kqi
Ap
1/ Kvfv
xp
2
2
s
d
h
+
s +1
Kvfv wh2 Kvfv wh
1 xp
s
Position feedback
From Figure 13 the new resonance frequency and damping (hv and hv) caused by the
velocity feedback can be evaluated as
hv = h K vfv , hv = h
1
K vfv
K qi
Ap
Designing the position control loop for the same amplitude margin as without velocity
feedback gives the following relations:
Steady state loop gain without velocity feedback: K v = K sa
Steady state loop gain with velocity feedback: K vv = K sav
K qi
Ap
Kf
K qi
A p K vfv
Kf
K-E Rydberg
Amplitude
10
10
10
10
10
10
10
Frequency [rad/s]
50
Phase
100
150
200
250
300
0
10
10
10
10
Frequency [rad/s]
Figure 14: Open loop gain for a position servo without and with velocity feefback (Kv = Kvv)
5.
If an integrating amplifier is used in a velocity servo the loop gain Au(s) will be in
principle the same as for a position servo with proportional control. Such a velocity
servo is shown in Figure 15.
Ap
vp
Ap
Mt
FL
Velocity
transducer
uc +
Integrating
servo ampl.
uf -
Ksa
____
s
Kf
i
Ps = const.
uc
Ksa
1 ir
s
Threshold
Kce
Gl
Ap2
-
Saturation
i imax
Kqi
G
Ap v +
ein
Gh
Au(s)
Kf
Figure 16: Block-diagram of a linear valve controlled velocity servo
xp
K-E Rydberg
An integrating amplifier means that the control error will be integrated and the steady
state control error becomes zero.
6.
Load
Uc
+
Pressure
and
position
signals
Valve
controller
Output signals
Supply pressure
From Figure 17 it can be seen the valve has two spools, which make it possible to
control meter-in and meter-out flow of any actuator independently. This facility gives
the opportunity of smooth acceleration and deceleration control of the load by
individual pressure control in each cylinder chamber. The pressure transducers can also
be used for load pressure feedback to increase the hydraulic damping. By measurement
of the pressure drop (p) over a spool the load flow (qL) can be controlled by
calculation of the spool displacement (xv) from the flow equation of the valve, which
gives
qL
xv =
2
Cq w
p
K-E Rydberg
7.
10
K-E Rydberg
11
For low power applications (low load weights) the platform shown in Figure 19 is often
realised by using electro-mechanical actuators (electric motor and a ball screw).
A similar control strategy as for the 6 DOF platform can be used for crane (or industrial
robot) tip control. Electro-hydraulic control of a lorry crane is shown in Figure 20.
Mechanical System
Z3
Optronic
Sensor
Hydraulic
System
Computer Based
Measurement and
Control System
X3
Figure 20: Crane tip control with optronic sensor for vertical position measurement
K-E Rydberg
12
The strategy for 2 DOF crane tip control is shown in Figure 21. A range camera
(optronic sensor) is used to measure the vertical distance (h) between the camera and
the object. Z3 is the vertical co-ordinate from the base line of the crane to the crane tip.
The reference value for the vertical crane tip position is calculated as Z3ref = Z3+hrefh.
The kinematics of the crane structure is calculated by using the signals from position
transducers in the hydraulic cylinders and a geometric description of the crane structure.
However, this will not give the true tip position of the crane tip because of the weakness
in the mechanical structure. By using a range camera it is possible to compensate the
vertical position control according to the mechanical weakness.
X3ref
href
Xp1r
+
Inverse
Kinematics Xp2r
Z3ref
+
Leadfilter
PI-
xv1r
PI-
xv2r
contr
contr
Leadfilter
Gcyl1
Xp1
Kinematics
Xp2
Gcyl2
X3
Z3
q3
h Range
Camera
8.
Design examples
ML
e
xp
Ap
V L pL
KL
pR = constant
M0
xv
Figure 22: Application with variable mechanical gearing between cylinder and load
K-E Rydberg
13
Inertia : J t = M L L2
..
Torque : T = M L L2 = p L A p e
Xp
L ..
With =
p L Ap = M L X p .
e
e
..
L
, the equivalent cylinder mass can be expressed
e
as, M t = M LU 2
Hydraulic resonance frequency and dampning
Assuming ML as the dominant mass the resonance frequency can be calculated as,
M0 << ML gives h =
Ke
1
=
Mt U
2
Ke
where 1 = V L 2 + 1 K e = K L e A p 2
ML
K e e Ap K L
K LV L + e A p
e M L
K ce
U
2 Ap
VL
According to the gear U it can be observed that an increase of the gear gives a reduced
h but an increased h. Studying the product hh the expression is,
2
e
K
K ce
e M L 1 e Ap
U
h h
h h ce
, for KL >> Kh
VL U VL M L
2 VL0 + Ap x p
2 Ap
This example is aimed to demonstrate how the cylinder design will influence the
hydraulic frequency and damping. Figure 23 shows a system with a stiff mechanical
structure and the cylinder is assumed to be loaded by one mass (ML).
L
ML
e
xp
Ap
V0 pL
xL
K-E Rydberg
14
As in Fig. 22 the mechanical gear U = L/e. The piston area is selected as, Ap = U
The cylinder volume depends of the load displacement (XL) as, V0 = Ap
hydraulic resonance frequency the basic equation is, h =
M Lg
.
pL
XL
. For the
U
e Ap2
. If the cylinder is
V0 M LU 2
designed for some maximum load pressure (pLmax), with Ap and V0 as described above,
the hydraulic frequency will follow the expression:
h =
e g
X L p L max
2 Ap
e M LU 2 or = K ce U
h
V0
e p L max
2 Ap
XL g
K ce e K ce e p L max
=
.
2 V0
2 Mt g XL
Figure 24 shows how the frequency, damping and the product varies according to the
design parameter max load pressure, pLmax.
Figure 24: Hydraulic resonance frequency and damping versus max load pressure
From the equations it can be noticed that the hydraulic damping will be proportional to
2
p L3 /max
and the product hh p L max . This indicates that the cylinder-load response will
show less oscillations when the max load pressure is increased. The system response for
different pLmax is illustrated in Figure 25.
K-E Rydberg
15
Figure 25: Response of the cylinder-load dynamics with cylinder design for max load pressure of 100,
200 and 300 bar respectively
K-E Rydberg
Controller design
______________________________________________________________________
Figure 1: Structure of a PID controller with feed forward gain and stabilisation feedback.
K-E Rydberg
Controller design
______________________________________________________________________
Figure 2: Simulink-model of a valve controlled cylinder with position feedback and feed forward gain.
The command signal in Figure 2 is a sine wave. The simulation results in Figure 3
shows that the output signal can follow the command signal with a very small phase lag.
The oscillations at start depends on the relatively low hydraulic damping (h = 0.155) in
the system.
The effect of the feed forward gain can preferable be studied by plotting the output
signal (Y) versus command signal (X), as illustrated in Figure 4.
K-E Rydberg
Controller design
______________________________________________________________________
Figure 4: Output versus command signal without (to the left) and with feed forward gain in
a position servo with proportional control.
A notable behaviour of the feed forward gain is that its action is like a pre-filter, which
not affect the control loop gain and the stability margins.
PID Controller
The ProportionalIntegralDerivative controller (PID controller) is a control loop
feedback mechanism widely used in industrial control system. A PID controller
attempts to correct the error between a measured system variable and a desired
command signal by calculating and then outputting a corrective action that can adjust
the process accordingly. A PID controller and its control algorithm are shown in Fig. 5.
P_action
k={1}
Output_Y
Input_U
I_action
I
startTime={0.2}
Sum
+1
+1
Saturation
+1
k={3}
uMax={2}
D_action
DT1
k={0}
Y (t ) = K P U (t ) +
1
dU (t )
U ( )d + TD
TI t0
dt
Proportional gain
Proportional gain is used for all tuning situations. It introduces a control signal that is
proportional to the error signal. As proportional gain increases, the error decreases and
the feedback signal tracks the command signal more closely. Proportional gain increases
K-E Rydberg
Controller design
______________________________________________________________________
system response by boosting the effect of the error signal. However, too much
proportional gain can cause the system to become unstable.
Command signal
Output signal
Optimal gain
Integral gain
With an integral control mode the error signal will be integrated over time, which
improves mean level response during dynamic operation. Integral gain increases system
response during steady state or low-frequency operation and maintain the mean value at
high-frequency operation. The I-gain adjustment determines how much time it takes to
improve the mean level accuracy. Higher integral gain settings increase system
response, but too much gain can cause slow oscillations, as shown in Figure 7.
Command signal
Output signal
Optimal gain
High gain
The integrator output signal depends upon the I-gain and the input signal level, see
Figure 8. It is very important to set a limit for the output signal, as shown in Figure 8,
to prevent the integrator for windup.
K-E Rydberg
Controller design
______________________________________________________________________
Derivative gain
With a derivative control mode the feedback signal means it anticipates the rate of
change of the feedback and slows the system response at high rates of change.
Derivative gain provides stability and reduces noise at higher proportional gain settings.
The D-gain tends to amplify noise from sensors and to decrease system response when
set is too high. Too much derivative gain can create instability at high frequencies.
Overshoot
Ringing
Low rate
Optimum rate
Figure 10: Effects of derivative gain