Digital PD controller with dynamic correction of the differential component coefficient for a mechatronic hydraulic system

Abstract

The paper presents a circuit of the mechatronic control system developed in Vinnytsia National Technical University (Ukraine). The mechatronic hydraulic system operation has been investigated according to the non-linear mathematical model processed using MATLAB-Simulink software package. Dependence of the differential component coefficient of PD-controller on the value of pressure in the mechatronic control system has been found and used for dynamic adjustment of the controller. Application of the proposed correction of the PD controller differential component has made it possible to reduce the time of transient process in the mechatronic hydraulic system by 25-75 % depending on the pressure variations in the system in the range of рc = (20…150)•105 N/m2.