Embedded Model Control Applied to Mobile Hydraulic Systems

This paper deals with the dynamic modeling, subsequent control design and testing of a complex electrohydraulic system. Modeling is based on physical laws and system knowledge. The main idea is to obtain a simple and reliable model that can be used for controller synthesis and implementation. Model reduction is done by using singular perturbation concepts. The power saving task required in mobile systems, is accomplished based on the load sensing paradigm, where many loads requested at any time must be fed and the maximum load pressure is used by the controller to take corrective actions. The control structure is developed under the Embedded Model Control framework; here, the simplified obtained model is embedded inside the controller, in order to compensate the discrepancies with respect to a nominal reference trajectory produced by uncertainties, unmodeled dynamics and perturbations. The effectiveness of the obtained controller is tested by simulation experiments