Auto-tuning electro-hydraulic valve
A flow control valve includes a housing that includes a fluid inlet, a fluid outlet, a first work port and a second work port. The housing defines a spool bore and a pilot spool bore. A main stage spool is disposed in the spool bore. A pilot stage spool is disposed in the pilot spool bore. The pilot stage spool is in selective fluid communication with the main stage spool. A microprocessor includes a controller having a restricted structured controller and a compensation controller. Outputs of the restricted structured controller and the compensation controller are summed to form an electrical signal that is communicated to the pilot stage spool.
1. A method for optimizing a control parameter of a microprocessor including a restricted structured controller, the method comprising:
evaluating a cost function at a first time interval of a first iteration with the controller;
calculating a control parameter with the controller;
evaluating the cost function at a second time interval of the first iteration with the controller;
calculating the control parameter with the controller;
evaluating the cost function at a third time interval of the first iteration with the controller; and
performing an iteration analysis with the controller, wherein the iteration analysis compares the first iteration to a previous iteration and sets the value of control parameter to one of the value of the control parameter calculated in the first iteration and the value of the control parameter calculated in the previous iteration.
2. The method of claim 1 , wherein the iteration analysis compares the cost function at the third time interval of the first iteration to a cost function at a third time interval of the previous iteration.
3. The method of claim 1 , wherein the previous iteration is immediately prior to the first iteration.
4. The method of claim 1 , wherein the cost function accounts for integral of absolute error, overshoot, and settling time.
5. The method of claim 1 , further comprising generating a vector with Bernoulli distribution.
6. The method of claim 5 , further comprising normalizing the Bernoulli distribution.
7. The method of claim 1 , further comprising comparing elements of the control parameter against upper and lower bounds.