Hrg. Christoph Gradl, Andreas Plöckinger, Rudolf Scheidl,
"Sensorless Position Control with a Hydraulic Stepper Drive - Concept, Compression Modeling and Experimental Investigation"
, in Marteen Steinbuch, in Mechatronics, Vol. 35, Nummer MECH-D-15-00383, Elsevier, Seite(n) 91 - 101, 5-2015, ISSN: 0957-4158
Sensorless Position Control with a Hydraulic Stepper Drive - Concept, Compression Modeling and Experimental Investigation
Sprache des Titels:
This paper presents a new type of a linear hydraulic stepper
drive for sensorless positioning tasks in hydraulics. The drive
transforms pulses sent to switching valves into quite precise motion
steps. The drive is realized by a hydraulic cylinder piston unit which
displaces defined fluid quantums by limited forward strokes of that
A test rig (hydraulic cylinder with a hydraulic stepper unit) was built
and experiments were performed to study the positioning accuracy,
repeatability, linearity and scattering range of the proposed stepper
drive concept. Two different step sizes (5 ?m and 15 ?m) were tested and
investigated. Also a computation model was developed for sensorless
position estimation and verified by measurements. The results show the
quite good accuracy of the model for all tested operating conditions.
An application example is studied, the sensorless control of the
deflection of an elastic beam. Its experimental testing was done by
hardware in the loop simulation, where the computed beam force is imposed
to the physical stepper drive via a controlled hydraulic force. The
results proof the practical suitability of the drive concept.