title: State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.
abstract: This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness.
authors.affiliation: School of Mechanical Engineering, Xi'an Jiaotong University, No. 28, Xianning West Road, Xi'an, Shaanxi, PR China. Electronic address: czyujue@gmail.com.
authors.forename: Jue
authors.initials: J
authors.lastname: Yu
authors.affiliation: School of Mechanical Engineering, Xi'an Jiaotong University, No. 28, Xianning West Road, Xi'an, Shaanxi, PR China.
authors.forename: Jian
authors.initials: J
authors.lastname: Zhuang
authors.affiliation: School of Mechanical Engineering, Xi'an Jiaotong University, No. 28, Xianning West Road, Xi'an, Shaanxi, PR China.
authors.forename: Dehong
authors.initials: D
authors.lastname: Yu
keywords: Direct drive servo valve; Integral control; Lyapunov function; Parameter uncertainty; State feedback control