Specifics of Remote Electrohydraulic Drive Microprocessor Control During Switching from Primary to Backup Operating Mode
DOI:
https://doi.org/10.64915/RADAP.2025.102.%25pKeywords:
microprocessor control, control system, electrohydraulic drive, dynamic positioning accuracy, transient processes, mathematical model, model testing, switching deviceAbstract
This paper discusses the features of modern microprocessor remote control systems with a redundant electrohydraulic actuator. The research results can be used in the development of advanced control systems for hydraulic and electrohydraulic drives. The study is aimed at improving the dynamic positioning accuracy of actuators in modern control systems. The purpose of the work is to identify and eliminate the sources of loss in dynamic accuracy of the electrohydraulic drive control system during switching from the primary to the backup operating mode. The control system operation analysis have shown that during it’s operation, constant or cyclic changes in operating modes (acceleration, deceleration, or operation under varying external load forces) appear. Switching from the primary electrohydraulic unit to the backup one is accompanied by transient processes caused by hydrodynamic and electrical phenomena. Due to the influence of external factors, the duration of these transient processes may increase. This can lead to a deterioration in the dynamic positioning accuracy.
To address this issue, research was conducted into the impact of transient processes that occur during the switch from the primary to the backup drive on the dynamic positioning accuracy. A mathematical model of the electrohydraulic drive control system was developed. The results of testing of the model are presented, confirming a high level of conformity with the frequency and dynamic characteristics of a real remote electrohydraulic control system. The paper also presents mathematical modeling results of the processes occurring during mode switching in the control system. Dependencies were studied concerning the influence of pressure parameter changes in the hydraulic system, the load force applied to the output link of the drive, and the switching time from the primary to the backup electrohydraulic drive. A method for eliminating the negative effects of self-induction currents is proposed. It involves modifying the electrical connection scheme of the solenoid valve coils used for coupling the electrohydraulic drives to the electronic control unit. A schematic diagram of the switching device was developed. Tests were conducted, and the results of experimental evaluation of the effectiveness of the proposed technical solutions are presented, demonstrating improved dynamic positioning accuracy. The effectiveness of the proposed solutions is confirmed.
References
Reference
1. Zhao, S., Chen, K., Zhang, X., Zhao, Y., Jing, G., et al. (2021). A High-Order Load Model and the Control Algorithm for an Aerospace Electro-Hydraulic Actuator. Actuators, Vol. 10, Iss. 3, 53, doi:10.3390/act10030053.
2. Ćwikła, G. and Szewczyk, M. (2024). Station for Tuning and Testing Digital Twin in Hydraulic Actuator Control Systems under Programmable Load — Methodology, Design, and Tests. Electronics, Vol. 13, Iss. 17, 3528. doi:10.3390/electronics13173528.
3. Wan, Z., Yue, L., Wang, Y. and Zhao, P. (2024). Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller. Computer Modeling in Engineering & Sciences, Vol. 141, Iss. 2, pp. 1047-1065. DOI: 10.32604/cmes.2024.053773.
4. Nápoles-Báeza, Y., González-Yero, G., Martínez, R., Valeriano, Y., Núñez-Álvarez, J. R. and Llosas-Albuerne, Y. (2022). Modeling and control of the hydraulic actuator in a ladle furnace. Heliyon, Vol. 8, Iss. 11, e11857. DOI: 10.1016/j.heliyon.2022.e11857.
5. Krämer, C., Kugi, A. and Kemmetmüller, W. (2023). Optimal force control of a permanent magnet linear synchronous motor with multiple shuttles. ISA Transactions, Vol. 140, pp. 483–489, doi:10.1016/j.isatra.2023.05.012.
6. Helian, B., Chen, Z. and Yao, B. (2021). Energy-saving and accurate motion control of a hydraulic actuator with uncertain negative loads. Chinese Journal of Aeronautics, Vol. 34, Iss. 5, pp. 253–264, doi:10.1016/j.cja.2020.12.025.
7. Estrada, M. A., Ruderman, M., Texis-Loaiza, O. and Fridman, L. (2025). Hydraulic actuator control based on continuous higher order sliding modes. Control Engineering Practice, Vol. 156, 106218, doi:10.1016/j.conengprac.2024.106218.
8. Pasolli, P. and Ruderman, M. (2020). Hybrid Position/Force Control for Hydraulic Actuators. arXiv:2006.03670, 6 p., DOI: 10.48550/arXiv.2006.03670.
9. Nisar, Z. and Munawar, H. (2021). System Identification and Controller Design for Hydraulic Actuator. Journal of Dynamic Systems, Measurement, and Control, Vol. 143, Iss. 8, 081005, 12 p. DOI:10.48550/arXiv.2108.11756.
10. Sokolov, V., & Rasskazova, Y. (2016). Automation of control processes of technological equipment with rotary hydraulic drive. Eastern-European Journal of Enterprise Technologies, Vol. 2. No. 2(80), pp. 44-50, doi: 10.15587/1729-4061.2016.63711.
11. Kozlov, L., Bohachuk, V. and Tovkach, A. (2016). Optimization of design parameters of the mechatronic drive with a variable-displacement pump. Journal of Mechanical Engineering NTUU "Kyiv Polytechnic Institute", Vol. 3, No. 78, pp. 46-51. DOI: 10.20535/2305-9001.2016.78.79008.
12. Q. Li and O. Uzunov (2022). Quantitative evaluation of properties of structural solutions of electrohydraulic positioning actuators. Mech. Adv. Technol., Vol. 6, No. 3, pp. 254-261, DOI: 10.20535/2521-1943.2022.6.3.267700.
13. Grischuk Yu. S. (2016). The use of microcontrollers in studies of electric vehicles. NTU "KhPI". Series: Problems of Electrical Machines and Apparatus Perfection, No. 32 (1204), pp. 23-28, DOI: 10.20998/%25x.
14. Plieshkov P. H., Pereverzev I. O., Petrova K. G., Savelenko I. V. (2017). The system of optimal control of the motion of a traction unit with synchronous motors on permanent magnets. Bulletin of NTU "KhPI". Series: Problems of Electrical Machines and Apparatus Perfection. The Theory and Practice, No. 34 (1256), pp. 71–75, doi:10.20998/%x.
15. Mihaylenko, V. V., & Charnyak, O. S. (2018). Analysis of electromagnetic processes in a converter with a decondon voltage regulation and electromechanical load. Bulletin of NTU "KhPI". Series: Problems of Electrical Machines and Apparatus Perfection. The Theory and Practice, No. 32 (1308), pp. 55–58, doi: 10.20998/2079-3944.2018.32.10.
16. Korol, O. G., Klymenko, B. V. and Eresko, O. V. (2019). Investigations of transients in the novel semiconductor device of forced control of the vacuum contactor monostable electromagnet. Bulletin of NTU "KhPI". Series: Problems of Electrical Machines and Apparatus Perfection. The Theory and Practice, No. 1, pp. 18–24, doi: 10.20998/2079-3944.2019.1.04.
17. Dinca, L., Bogateanu, R., Corcau, J.-I., Dumitrache, A., & Suatean, B. (2022). Numerical Simulation for Redundant Electro-Hydrostatic Servo-Actuators under Certain Special Conditions. Energies, Vol. 15, Iss. 16, 5906, doi: 10.3390/en15165906.
Downloads
Published
Issue
Section
License
Copyright (c) 2025 Ю. А. Кравецький, О. П. Губарев, О. В. Левченко
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
