Passification of electrohydraulic valves using bond graphs

Perry Y. Li, Roger F. Ngwompo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In many applications that require physical interaction with humans or other physical environments, passivity is a useful property to have in order to improve safety and ease of use. Many hydraulic applications (e.g. a human operated excavator) fall into this category. In a previous work, the passivity property of a directional hydraulic flow control valve, and methods for making the valve in a passive two-port system were proposed. In this paper, the problem of developing passifying control laws for directional control valves is re-visited from a bond graph perspective. Two new bond graph elements with power scaling properties are first introduced and the passivity property of bondgraphs containing these elements are investigated. Then by representing the control valve in a suitable augmented bond graph, and by replacing the signal bonds with power scaling elements, it is shown that passifying control laws can easily be recovered and generalized.

Original languageEnglish (US)
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
EditorsGabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
PublisherIFAC Secretariat
Pages31-36
Number of pages6
Edition1
ISBN (Print)9783902661746
DOIs
StatePublished - 2002
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: Jul 21 2002Jul 26 2002

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1
Volume15
ISSN (Print)1474-6670

Other

Other15th World Congress of the International Federation of Automatic Control, 2002
CountrySpain
CityBarcelona
Period7/21/027/26/02

Bibliographical note

Funding Information:
1 Email: pli@me.umn.edu. Partially supported Science Foundation grant ENG/CMS-0088964. 2 Email:ensrfn@bath.ac.uk

Publisher Copyright:
Copyright © 2002 IFAC.

Keywords

  • Bond graphs
  • Control valves
  • Electro-hydraulics
  • Passivity
  • Power transformer

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