Rapid Prototyping of H∞ Algorithm for Real-Time Displacement Volume Control of Axial Piston Pumps

A system for the rapid prototyping of real-time control algorithms for open-circuit variable displacement axial-piston pumps is presented. In order to establish real-time control, and communication and synchronization with the programmable logic controller of an axial piston pump, the custom CAN communication protocol is developed. This protocol is realized as a Simulink® S-function, which is a part of main Simulink® model. This model works in real-time and allows for the implementation of rapid prototyping of various control strategies including advanced algorithms such as H∞ control. The aim of the algorithm is to achieve control system performance in the presence of various load disturbances with an admissible control signal rate and amplitude. In contrast to conventional systems, the developed solution suggests using an embedded approach for the prototyping of various algorithms. The obtained results show the advantages of the designed H∞ controller that ensure the robustness of a closed-loop system in the presence of significant load disturbances. These type of systems with displacement volume regulation are important for industrial hydraulic drive systems with relatively high power.