Some aspects of using hydraulic actuators
DOI:
https://doi.org/10.55287/22275398_2026_58_25Keywords:
hydraulic actuator, positioning, mathematical modeling, nonlinearity, spool valve, friction, adaptive control, dynamic accuracyAbstract
The article analyzes the key factors limiting the response speed and positioning accuracy of hydraulic actuators in technological equipment automation systems. It has been established that for double-acting cylinders, the dominant factor determining dynamic positioning error is the nonlinearity of the flow-pressure characteristics of the spool valve at small pressure drops, while for rotary actuators, the critical factors become pressure pulsations and elastic deformations of power elements.
The scientific novelty of the research lies in the development of a modified mathematical model of the drive dynamics. This model integrates a refined description of the flow through the spool metering edge, considering the laminarization effect at small displacements, as well as a non-stationary model of dry friction forces in cylinder seals. Unlike known models that use linear approximations, the proposed model allows for high-accuracy prediction of the occurrence of "dead zone" phenomena and associated self-oscillations, which is crucial for precision positioning systems.
The practical significance of the study is determined by the development of an adaptive compensation control algorithm based on the proposed model. The algorithm implements a two-loop structure with an inner loop for compensating valve nonlinearities and an outer positioning loop with a PID controller, whose parameters are adjusted depending on the current load and movement speed. The results of simulation in MATLAB/Simulink and bench tests demonstrated that the implementation of the proposed algorithm for the clamping device drive of a CNC machine tool reduces static positioning error by 72% (from 0.25 mm to 0.07 mm) and increases the maximum trajectory tracking speed by 18% while maintaining the required clamping force.
References
1. Bayda E. I. Vliyanie gidravlicheskogo dempfera na dinamiku dvukhpozitsionnogo polyarizovannogo aktuatora [Influence of a hydraulic damper on the dynamics of a two‑position polarized actuator]. Elektrotekhnika i elektromekhanika. 2013;(5):15–18. (In Russian).
2. Grishchenko V. I., Korotych D. A. Matematicheskoe modelirovanie gidravlicheskogo raspredelitelya [Mathematical modeling of a hydraulic distributor]. In: Aktualnye problemy nauki i tekhniki 2017: materialy natsionalnoy nauchno‑prakticheskoy konferentsii, Rostov‑on‑Don, 15–17 May 2017. Rostov‑on‑Don: Donskoy gosudarstvennyy tekhnicheskiy universitet; 2017. p. 11–13. EDN GDGMHQ. (In Russian).
3. Grishchenko V. I., Prikhodko S. P. Matematicheskoe modelirovanie gidravlicheskogo klapana davleniya nepryamogo deystviya [Mathematical modeling of an indirect‑acting hydraulic pressure valve]. In: Aktualnye problemy nauki i tekhniki 2017: materialy natsionalnoy nauchno‑prakticheskoy konferentsii, Rostov‑on‑Don, 15–17 May 2017. Rostov‑on‑Don: Donskoy gosudarstvennyy tekhnicheskiy universitet; 2017. p. 13–15. EDN IGAYFF. (In Russian).
4. Grishchenko V. I., Tumakov A. A., Poleshkin M. S., et al. Modelirovanie avtomaticheskoy sistemy gorizontalizirovaniya krutosklonnoy mobilnoy mashiny s gidravlicheskim datchikom krena [Modeling of an automatic leveling system for a steep‑slope mobile machine with a hydraulic tilt sensor]. Omskiy nauchnyy vestnik. 2019;2(164):11–18. doi:10.25206/1813-8225-2019-164-11-18. EDN LLWMCJ. (In Russian).
5. Grishchenko V. I., Sidorenko V. S. Modelirovanie protsessa pozitsionirovaniya ispolnitelnykh mekhanizmov tekhnologicheskogo oborudovaniya diskretnym pnevmogidravlicheskim ustroystvom s pnevmaticheskimi liniyami svyazi [Modeling of actuator positioning in technological equipment by a discrete pneumatic‑hydraulic device with pneumatic communication lines]. Vestnik Donskogo gosudarstvennogo tekhnicheskogo universiteta. 2009;S2:81–89. EDN MOTOEL. (In Russian).
6. Ivliev E. A., Grishchenko V. I., Medvedev D. D. Matematicheskaya model elektrogidravlicheskogo aktuatora [Mathematical model of an electro‑hydraulic actuator]. Izvestiya vysshikh uchebnykh zavedeniy. Severo‑Kavkazskiy region. Tekhnicheskie nauki. 2023;(4):98–110. doi:10.17213/1560-3644-2023-4-98-110. (In Russian).
7. Kozhukhova A. V., Nevzorova M. Yu. Chastotnoe regulirovanie obemnykh gidravlicheskikh nasosov [Frequency control of positive‑displacement hydraulic pumps]. Aktualnye napravleniya nauchnykh issledovaniy XXI veka: teoriya i praktika. 2015;3;9‑3(20‑3):83–87. doi:10.12737/16871. (In Russian).
8. Medvedev D. D., Ivliev E. A., Grishchenko V. I. Adaptivnye gidro‑ i pnevmoprivody tekhnologicheskogo oborudovaniya [Adaptive hydraulic and pneumatic drives of technological equipment]. In: Aktualnye problemy nauki i tekhniki 2022: materialy Vserossiyskoy (natsionalnoy) nauchno‑prakticheskoy konferentsii, Rostov‑on‑Don, 16–18 March 2022. Shevchenko N. A., editor. Rostov‑on‑Don: Donskoy gosudarstvennyy tekhnicheskiy universitet; 2022. p. 1005–1006. EDN PDGLNX. (In Russian).
9. Nazarenko D. V., Bolshev V. E., Grishchenko V. I., Ivliev E. A., Medvedev D. D. Razrabotka elektrogidravlicheskogo aktuatora dlya selskokhozyaystvennoy tekhniki [Development of an electro‑hydraulic actuator for agricultural machinery]. Agrarnyy nauchnyy zhurnal. 2024;(9):134–146. (In Russian).
10. Obukhova E. N., Grishchenko V. I. Modelirovanie dinamiki protsessa pozitsionirovaniya pnevmoprivoda dvustoronnego deystviya [Modeling the dynamics of the positioning process of a double‑acting pneumatic drive]. In: Intellektualnye sistemy, upravlenie i mekhatronika – 2018: materialy Vserossiyskoy nauchno‑tekhnicheskoy konferentsii, Sevastopol, 29–31 May 2018. Sevastopol: Sevastopolskiy gosudarstvennyy universitet; 2018. p. 165–168. EDN XTIOFN. (In Russian).
