KAiE, WE-007, 10:15
In this paper, a discrete-time optimal control for torque tracking of a hydrostatic transmission is designed. For a decentralized control scheme, two subsystems related to the motor tilt angle and the output torque of the hydraulic motor are described in a discrete-time form. Given these design models, dynamic feedforward control in combination with linear quadratic optimal control is applied to accurately track desired trajectories for each subsystem. In the case of the torque control design, nonlinearities in the model are addressed by deploying Takagi-Sugeno fuzzy techniques. Moreover, an unscented Kalman filter is introduced to estimate unmeasurable states for feedback purposes as well as a volume flow disturbance for a subsequent compensation. The performance of this discrete-time optimal control structure is shown by means of both simulations and experimental results from the dedicated test rig at the Chair of Mechatronics, University of Rostock.