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Adaptive modeling and control applied to a hydraulic motor

Abstract:

In this paper a modeling of a hydraulic system composed by a hydromotor and a proportional valve is presented. Due to the non-linear characteristics of the analyzed system the modeling is obtained from experimental measurements for a specific range of operation, which allows to obtain output patterns as a response to input signals. The hydraulic system is represented by an adaptive linear model whose coefficients have a dynamic behavior as a function of system's input. Speed and position control loops with a linear PID with adaptive coefficients is implemented, which allows the PID reconfiguration as the operating point is changing. The proposed model is tested by simulations and in an experimental rig.