State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach
Jue Yu1, Jian Zhuang1, Dehong Yu1
1School of Mechanical Engineering, Xi'an Jiaotong University, No. 28, Xianning West Road, Xi'an, Shaanxi, PR China.
ISA Transactions
|September 20, 2014
Summary
This study introduces a robust state feedback integral controller for rotary direct drive servo valves (RDDVs). The controller uses a Lyapunov function to ensure precise position control despite uncertain friction and flow torques.
Area of Science:
- Control Systems Engineering
- Fluid Power Systems
- Robotics
Background:
- Rotary direct drive servo valves (RDDVs) are crucial components in automated systems.
- Their performance is significantly affected by uncertain friction and flow torques.
- Achieving precise position control in RDDVs is challenging due to these uncertainties.
Purpose of the Study:
- To develop a robust state feedback integral controller for RDDVs.
- To address parameter uncertainties and improve control accuracy.
- To enhance the robustness and simplify the implementation of RDDV control.
Main Methods:
- Utilizing a state feedback control strategy.
- Integrating an integral action to eliminate steady-state errors.
- Employing a Lyapunov function approach for robustness against parameter variations.
Main Results:
- The proposed controller effectively eliminates nonzero steady-state errors.
- Demonstrated improved control accuracy and robustness in simulations and experiments.
- The controller exhibits a simple structure and ease of implementation.
Conclusions:
- The state feedback integral control with a Lyapunov function is effective for RDDVs.
- The controller provides robust performance under parameter uncertainties.
- The method offers practical advantages in terms of simplicity and implementation.
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