Real-time capable control strategy for hydraulic systems while systematically taking into consideration control (rate) and state variable constraints
The invention relates to a method for generating a control variable trajectory for an actuator so as to influence an input variable of a system, wherein a set point is supplied to the output variable of the system of a trajectory planning procedure, which from the set point generates a trajectory of constrained input values for a filter integrator chain and a trajectory of flat desired states, wherein the trajectory of constrained input values and the trajectory of flat desired states are supplied to a flatness-based feedforward control procedure that generates therefrom the control variable trajectory for the actuator, wherein in the trajectory planning procedure so as to generate the trajectory of constrained input values at least one constraint is applied in dependence upon the trajectory of flat desired states.
1. A method for operating an actuator of a hydraulic system, the method comprising:
generating a control variable trajectory for the actuator by:
supplying a set point to a trajectory planning procedure;
generating from the supplied set point, a trajectory of constrained input values for a filter integrator chain and a trajectory of flat desired states using the trajectory planning procedure;
supplying the trajectory of constrained input values and the trajectory of flat desired states to a flatness-based feedforward control procedure; and
generating the control variable trajectory for the actuator from the trajectory of constrained input values and the trajectory of flat desired states with the flatness-based feedforward control procedure,
operating the actuator to influence an input variable of the hydraulic system based on the generated control variable trajectory,
wherein at least one constraint is applied to the set point in the trajectory planning procedure to generate the trajectory of constrained input values, and
wherein the least one constraint is dependent on the trajectory of flat desired states.
2. The method according to claim 1 , wherein the at least one constraint includes a control variable constraint.
3. The method according to claim 1 , wherein the at least one constraint includes a constraint that is dependent on a control range of the actuator.
4. The method according to claim 1 , wherein the at least one constraint includes an output variable constraint.
5. The method according to claim 4 , wherein:
the hydraulic system includes a hydraulic adjustment cylinder having a movable piston,
the hydraulic adjustment cylinder is operably connected to the actuator, and
the output variable constraint is a constraint on a position of the movable piston.
6. The method according to claim 1 , wherein the actuator is an electrically controllable valve.
7. The method according to claim 6 , wherein the at least one constraint includes a control variable constraint that is one of (i) a magnetic force constraint_ and (ii) a control current constraint to a value between a minimum value and a maximum value.
8. The method according to claim 6 , wherein the at least one constraint includes a constraint of a valve spool position that is dependent on a control range of the actuator.
9. The method according to claim 1 , wherein a computer is configured perform the method.
10. The method according to claim 9 , wherein the computer executes a computer program that causes the computer to perform the method.
11. The method according to claim 1 , wherein a non-transitory machine-readable storage medium is configured to store a computer program for causing a computer to perform the method, when the computer program is executed on the computer.