Sensorless position control with a hydraulic stepper drive - Concept, compression modeling and experimental investigation
Sensorless position control with a hydraulic stepper drive - Concept, compression modeling and experimental investigation
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DOI：
10.1016/j.mechatronics.2016.01.004
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发表时间：
2016-05-01
期刊：
影响因子：
3.3
通讯作者：
Scheidl, Rudolf
中科院分区：
文献类型：
--
作者：
Gradl, Christoph;Ploeckinger, Andreas;Scheidl, Rudolf
本文提出了一种新型的线性液压步进驱动器的无传感器定位任务的液压。驱动器将发送到开关阀的脉冲转换为非常精确的运动步骤。该驱动器由液压缸活塞单元实现，通过活塞有限的前进行程排出规定的流体量，搭建了一个试验台（液压缸和液压步进单元），并对该步进驱动器的定位精度、重复性、线性度和散射范围进行了实验研究。两种不同的步长（5 μ m和15 μ m）进行了测试和研究。建立了无位置传感器位置估计的计算模型，并进行了实验验证。结果表明，该模型在所有测试工况下都具有相当好的精度。研究了一个应用实例，弹性梁偏转的无传感器控制。它的实验测试是通过硬件在环仿真完成的，其中计算的梁力通过受控的液压力施加到物理步进驱动器。结果证明了驱动概念的实际适用性。(C)2016爱思唯尔有限公司版权所有。
This paper presents a new type of a linear hydraulic stepper drive for sensorless positioning tasks in hydraulics. The drive transforms pulses sent to switching valves into quite precise motion steps. The drive is realized by a hydraulic cylinder piston unit which displaces defined fluid quantums by limited forward strokes of that piston.A test rig (hydraulic cylinder with a hydraulic stepper unit) was built and experiments were performed to study the positioning accuracy, repeatability, linearity and scattering range of the proposed stepper drive concept. Two different step sizes (5 mu m and 15 mu m) were tested and investigated. Also a computation model was developed for sensorless position estimation and verified by measurements. The results show the quite good accuracy of the model for all tested operating conditions.An application example is studied, the sensorless control of the deflection of an elastic beam. Its experimental testing was done by hardware in the loop simulation, where the computed beam force is imposed to the physical stepper drive via a controlled hydraulic force. The results proof the practical suitability of the drive concept. (C) 2016 Elsevier Ltd. All rights reserved.