速度控制的overcentered变量液压马达load-torque观察者速度控制的overcentered变量液压马达load-torque观察者.pdf

ControlEng.Practice,Vol. 4, No. 11,pp. 1563-1570, 1996 Pergamon Copyright © 1996Elsevier ScienceLtd Printed in Great Britain. All rights reserved 0967-0661/96 $15.00 + 0.00 PII:S0967-0661 (96)00170-0 SPEED CONTROL OF AN OVERCENTERED VARIABLE-DISPLACEMENT HYDRAULIC MOTOR WITH A LOAD-TORQUE OBSERVER C.-S. K i m and C.-O. Lee Department ofMechanical Engineering, KoreaAdvanced Institute of Science and Technology, Taejon,Korea (Received September 1995; infinal form September 1996) Abstract: This study deals with the speed control of an overeentered variable-displacement hydraulicmotor on a constantpressure network,which is noted for its high systemefficiency,fast dynamic response and energy recovery capability. To obtain robust speed control despite torque disturbances and variationsin systemparameters, the load torque is estimatedby an observerbased on a mathematicalmodel and compensatedfor by a feedforwardloop. It is shownby experiment that robust speed control may be obtained with the proposed controller, in spite of torque disturbances and variationsin systemparameters. The experimentaldata agree fairl