Actuator limit controller
In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
1. A method for controlling speed of a piston slidably disposed in a cylinder cavity of a hydraulic actuator, the method comprising:
receiving, at a controller, a velocity command for moving the piston within the cylinder cavity of the hydraulic actuator at a desired velocity in a first linear direction toward an end-stop of the hydraulic actuator, the piston comprising a piston head dividing the cylinder cavity into a first chamber and a second chamber, the first chamber disposed between the piston head and the end-stop; and
as the piston moves in the first linear direction toward the end-stop based on the velocity command:
receiving, at the controller, a velocity feedback signal indicating an instantaneous velocity of the piston;
determining, by the controller, a velocity error signal indicating a velocity difference between the desired velocity of the piston and the instantaneous velocity of the piston indicated by the velocity feedback signal;
receiving, by the controller, position information indicating a position of the piston relative to the end-stop;
when the position of the piston relative to the end-stop is greater than a first threshold distance, multiplying, by the controller, the velocity error signal by a proportional gain value to cause the instantaneous velocity of the piston to maintain the desired velocity; and
when the position of the piston relative to the end-stop is equal to or less than the first threshold distance:
decreasing a magnitude of the proportional gain value; and
multiplying, by the controller, the velocity error signal by the decreased magnitude of the proportional gain value to cause the instantaneous velocity of the piston to decrease from the desired velocity.
2. The method of claim 1 , wherein decreasing the magnitude of the proportional gain value comprises linearly decreasing the magnitude of the proportional gain as the position of the piston relative to the end-stop moves from the first threshold distance toward a second threshold distance, the second threshold distance closer to the end-stop than the first threshold distance.
3. The method of claim 1 , further comprising, when the position of the piston relative to the end-stop is equal to or less than a second threshold distance closer to the end-stop than the first threshold distance, setting, by the controller, the proportional gain value equal to zero.
4. The method of claim 1 , further comprising, when the position of the piston relative to the end-stop is equal to or less than a second threshold distance closer to the end-stop than the first threshold distance, applying, by the controller, a decelerating force on the piston in a second linear direction away from the end-stop.
5. The method of claim 4 , wherein applying the decelerating force on the piston comprises increasing pressure of hydraulic fluid within the first chamber of the cylinder cavity.
6. The method of claim 4 , wherein applying the decelerating force on the piston comprises linearly increasing a magnitude of the decelerating force on the piston as the piston moves closer to the end-stop.
7. The method of claim 4 , wherein a magnitude of the decelerating force is based on the instantaneous velocity of the piston.
8. The method of claim 1 , further comprising, when the position of the piston relative to the end-stop is greater than a second threshold distance closer to the end-stop than the first threshold distance as the piston moves in the first linear direction toward the end-stop based on the velocity command:
providing, by the controller, a flow of pressurized hydraulic fluid into the second chamber of the cylinder cavity from a source of pressurized fluid coupled to the second chamber; and
directing, by the controller, hydraulic fluid in the first chamber to flow from the first chamber to a return line fluidly coupled to the first chamber.
9. The method of claim 1 , wherein the instantaneous velocity is measured by a velocity sensor coupled to the piston head.
10. The method of claim 1 , wherein the instantaneous velocity is estimated based on the received position information.
11. A system comprising:
a source of pressurized hydraulic fluid;
a return line;
a hydraulic actuator comprising:
a cylinder defining a cylinder cavity and having an end-stop; and
a piston slidably disposed in the cylinder cavity of the cylinder and comprising a piston head, the piston head dividing the cylinder cavity into a first chamber and a second chamber, the first chamber disposed between the piston head and the end-stop;
a valve assembly configured to selectively couple or decouple the source of pressurized hydraulic fluid to the second chamber and selectively couple or decouple the first chamber to the return line; and
a controller in communication with the valve assembly, the controller configured to perform operations comprising:
receiving a velocity command for moving the piston within the cylinder cavity at a desired velocity in a first linear direction toward the end-stop; and
as the piston moves in the first linear direction toward the end-stop based on the velocity command:
receiving a velocity feedback signal indicating an instantaneous velocity of the piston;
determining a velocity error signal indicating a velocity difference between the desired velocity of the piston and the instantaneous velocity of the piston indicated by the velocity feedback signal;
receiving position information indicating a position of the piston relative to the end-stop;
when the position of the piston relative to the end-stop is greater than a first threshold distance, multiplying the velocity error signal by a proportional gain value to cause the instantaneous velocity of the piston to maintain the desired velocity; and
when the position of the piston relative to the end-stop is equal to or less than the first threshold distance:
decreasing a magnitude of the proportional gain value; and
multiplying the velocity error signal by the decreased magnitude of the proportional gain value to cause the instantaneous velocity of the piston to decrease from the desired velocity.
12. The system of claim 11 , wherein decreasing the magnitude of the proportional gain value comprises linearly decreasing the magnitude of the proportional gain as the position of the piston relative to the end-stop moves from the first threshold distance toward a second threshold distance, the second threshold distance closer to the end-stop than the first threshold distance.
13. The system of claim 11 , wherein the operations further comprise, when the position of the piston relative to the end-stop is equal to or less than a second threshold distance closer to the end-stop than the first threshold distance, setting the proportional gain value equal to zero.
14. The system of claim 11 , wherein the operations further comprise, when the position of the piston relative to the end-stop is equal to or less than a second threshold distance closer to the end-stop than the first threshold distance, applying a decelerating force on the piston in a second linear direction away from the end-stop.
15. The system of claim 14 , wherein applying the decelerating force on the piston comprises increasing pressure of hydraulic fluid within the first chamber of the cylinder cavity.
16. The system of claim 14 , wherein applying the decelerating force on the piston comprises linearly increasing a magnitude of the decelerating force on the piston as the piston moves closer to the end-stop.
17. The system of claim 14 , wherein a magnitude of the decelerating force is based on the instantaneous velocity of the piston.
18. The system of claim 11 , wherein the operations further comprise, when the position of the piston relative to the end-stop is greater than a second threshold distance closer to the end-stop than the first threshold distance as the piston moves in the first linear direction toward the end-stop based on the velocity command:
providing a flow of pressurized hydraulic fluid into the second chamber of the cylinder cavity from the source of pressurized fluid fluidly coupled to the second chamber; and
directing hydraulic fluid in the first chamber to flow from the first chamber to the return line fluidly coupled to the second chamber.
19. The system of claim 11 , wherein the instantaneous velocity is measured by a velocity sensor coupled to the piston.
20. The system of claim 11 , wherein the instantaneous velocity is estimated based on the received position information.