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Adaptive sliding mode control of a pressure relief valve

Adaptive Gleitzustandsregelung eines Druckbegrenzungsventils

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Abstract

In this contribution the control of a hydraulic pressure relief valve is discussed. Due to strong nonlinearities of the valve and the influence of a varying oil flow advanced control strategies are mandatory if advanced closed-loop performance is demanded. On the one hand, classical PI-like control structures can be applied to achieve the desired closed-loop performance. However, for this the controller has to utilize nonlinear gains for the P- and I-branch, which results in a large number of parameters to determine. In order to overcome this complexity a second order homogeneous control concept is proposed that achieves the desired control quality. Since modeling of the hydraulic valve is not intended and hence the system’s states cannot be recovered by using an observer-based approach the state recovery by differentiation of the measured system output is discussed. For this, differentiation techniques based on second-order sliding modes are briefly introduced. The performance of the presented control concept is evaluated on a typical pressure relief valve in terms of tracking of different pressure drop trajectories and disturbance rejection caused by a varying oil flow. The results show an improved control quality compared to classical approaches while the complexity of the utilized sliding mode controller is kept low.

Zusammenfassung

In diesem Beitrag wird die Druckregelung eines Druckbegrenzungsventils präsentiert. Aufgrund der auftretenden Nichtlinearitäten des Systems und der variierenden Volumenströme des hydraulischen Mediums sind innovative Regelungsstrategien notwendig, um die geforderte Regelungsgüte zu erzielen. Hierzu können zum einen klassische PI-Regler eingesetzt werden, allerdings müssen derartige Regler um nichtlineare Kennlinien mit einer Vielzahl an verkoppelten Parametern je Zweig ergänzt werden, um die geforderte Güte zu bieten. Um die hohe Komplexität der Regler zu reduzieren, wird in dieser Arbeit ein Gleitzustandsregler zweiter Ordnung vorgestellt, der die geforderte Regelungsgüte erzielt und gleichzeitig eine geringe Anzahl an Parametern aufweist. Da die Modellierung des hydraulischen Ventils nicht beabsichtigt ist und somit die Zustände des Systems nicht messbar sind, wird zudem ein Ansatz zur robusten Schätzung von Ableitungen eines gemessenen Signals eingeführt. Die Leistung des vorgestellten Regelungskonzepts wird anhand typischer Betriebsszenarien eines hydraulischen Druckbegrenzungsventils untersucht. Hierzu wird sowohl das Führungsverhalten für eine Sequenz unterschiedlicher Drücke sowie das Störverhalten für variierende Volumenströme getestet. Die Ergebnisse zeigen im Vergleich zu einem einfachen PI-Regler gleicher Komplexität eine verbesserte Regelungsgüte für den neuen Ansatz auf.

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Acknowledgements

The authors are thankful to Mr. Daniel Schlattmann, who developed parts of this contribution during his master thesis.

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Authors and Affiliations

  1. Institute of Control Theory and Systems Engineering, TU Dortmund University, Otto-Hahn-Str. 8, 44227, Dortmund, Germany

    Christoph Krimpmann & Torsten Bertram

  2. Bosch Rexroth AG, Partensteiner Str. 23, 97816, Lohr am Main, Germany

    Georg Schoppel & Ingo Glowatzky

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  1. Christoph Krimpmann
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  2. Torsten Bertram
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  3. Georg Schoppel
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  4. Ingo Glowatzky
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Correspondence to Christoph Krimpmann.

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Krimpmann, C., Bertram, T., Schoppel, G. et al. Adaptive sliding mode control of a pressure relief valve. Elektrotech. Inftech. 133, 261–265 (2016). https://doi.org/10.1007/s00502-016-0421-y

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  • DOI: https://doi.org/10.1007/s00502-016-0421-y

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