Pressure feedback control of electro-hydraulic actuators using fixed displacement hydraulic machines
This paper presents the development of a control strategy for Electro-Hydraulic Actuator (EHA) systems based on fixed displacement hydraulic machines. Although some previous studies on EHAs show benefits in terms of energy efficiency and regeneration capability compared to conventional hydraulic systems, few studies focus on the dynamic performance of EHAs. Unlike traditional valve-controlled systems, an EHA based on a fixed displacement pump typically relies on variation of the electric motor shaft speed to control the actuator velocity. This study shows that pressure feedback can be used to control the speed of the electric machine, thus achieving the required actuator/machine dynamic response. A simulation model is developed by including the EM, the hydraulic system, and the actuation system, which can give a realistic prediction of the EHA performance for a typical duty cycle. An open-circuit EHA previously proposed by the authors is used to validate the control strategy, and the simulation results show superior dynamic performance, exhibiting a reduction in response time and oscillatory behavior, compared to a feedforward EHA controller. Following the method presented in this study, it is possible to design a controller with a pressure feedback strategy for EHA systems with different size and actuation requirements