Displacement Control Strategies of an In-Line Axial-Piston Unit

L. Viktor Larsson
Division of Fluid and Mechatronic Systems, Department of Management and Engineering, Linköping University, Linköping, Sweden

Petter Krus
Division of Fluid and Mechatronic Systems, Department of Management and Engineering, Linköping University, Linköping, Sweden

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp17144244

Ingår i: Proceedings of 15:th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden

Linköping Electronic Conference Proceedings 144:24, s. 244-253

Visa mer +

Publicerad: 2017-12-20

ISBN: 978-91-7685-369-6

ISSN: 1650-3686 (tryckt), 1650-3740 (online)


The need for efficient propulsion in heavy vehicles has led to an increased interest in hybrid solutions. Hydraulic hybrids rely on variable hydraulic pumps/motors to continuously convert between hydraulic and mechanical power. This process is carried out via the implementation of secondary control which, in turn, is dependent on a fast displacement controller response. This paper reports on a study of a prototype axial piston pump of the in-line type, in which the displacement is measured with a sensor and controlled using a software-based controller. A pole placement control approach is used, in which a simple model of the pump is used to parametrise the controller using desired resonance and damping of the closed loop controller as input. The controller’s performance is tested in simulations and hardware tests on the prototype unit. The results show that the pole placement approach combined with a lead-compensator controller architecture is flexible, easy to implement and is able to deliver a fast response with high damping. The results will in the future be used in further research on full-vehicle control of heavy hydraulic hybrids.


Hydraulic hybrids, displacement control, pole placement


[1] Lino Guzella and Antonio Sciaretta. Vehicle Propulsion Systems. Springer Verlag Berlin Heidelberg, 2013.

[2] A. Pourmovahed. Vehicle propulsion systems with hydraulic energy storage: a literature survey. International Journal of Vehicle Design, 12(4):378–403, 1991.

[3] Karl-Erik Rydberg. Energy Efficient Hydraulic Hybrid Drives. In The 11:th Scandinavian International Conference on Fluid Power, SICFP’09, Linköping, Sweden, 2009.

[4] Rolf Kordak. Hydrostatic drives with secondary control. Mannesmann Rexroth GmbH, 1996.

[5] Göran Palmgren. On Secondary Controlled Hydraulic Systems. Licentiate thesis, Linköping University, 1988.

[6] H Berg and M Ivantysynova. Design and testing of a robust linear controller for secondary controlled hydraulic drive. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 213(5):375–386, 1999.

[7] L Viktor Larsson, Karl Pettersson, and Petter Krus. Mode Shifting in Hybrid Hydromechanical Transmissions. In Proceedings of the ASME/BATH 2015 Symposium on Fluid Power and Motion Control (FPMC2015), Chicago, Illinois, USA, 2015.

[8] Jaroslav Ivantysyn and Monika Ivantysynova. Hydrostatic Pumps and Motors. Akademia Books International, New Delhi, India, 2001.

[9] W.L. Green and T.R. Crossley. An Analysis of the Control Mechanism used in Variable-Delivery Hydraulic Pumps. In Proceedings of the Institution of Mechanical Engineers, 1970.

[10] Joerg Grabbel and Monika Ivantysynova. An investigation of swash plate control concepts for displacement controlled actuators. International Journal of Fluid Power, 6(2):19–36, 2005.

[11] Noah D. Manring. Fluid Power Pumps & Motors. McGraw-Hill Education, 2013.

[12] Herbert E Merritt. Hydraulic Control Systems. John Wiley & Sons, Inc., 1967.

[13] L. Viktor Larsson and Petter Krus. Modelling of the Swash Plate Control Actuator in an Axial Piston Pump for a Hardware-in-the-Loop Simulation Test Rig. In 9th FPNI Ph.D. Symposium on Fluid Power, Florianópolis, SC, Brazil, 2016.

[14] http://www.iei.liu.se/flumes/system-simulation/hopsanng/. Division of Fluid and Mechatronic Systems, Linköping University, Accessed: 2017-04-11.

[15] Torkel Glad and Lennart Ljung. Reglerteknik: Grundläggande teori. Studentlitteratur AB, 2006.

[16] Liselott Ericson. Swash Plate Oscillations due to Piston Forces in Variable In-line Pumps. In The 9th International Fluid Power Conference, (9. IFK), Aachen, Germany, 2014.

[17] P. a. J. Achten, S Eggenkamp, and H. W. Potma. Swash plate oscillation in a variable displacement floating cup pump. In The 13th Scandinavian International Conference on Fluid Power, pages 163–176, Linköping, Sweden, 2013.

Citeringar i Crossref