Lyapunov-Based Two-Degree-of-Freedom Model Reference Adaptive Control of Axial-Piston Pump

The article is devoted to the synthesis, implementation, simulation and experimental study of a real-time Lyapunov-based two-degree-of-freedom model reference adaptive controller (MRAC) for an axial-piston pump. The controller of the developed real-time system determinates control signal values applied to the electro-hydraulic proportional valve. The proportional valve is an actuator for driving the swash plate swivel angle of the pump. The swash plate swivel angle determines the displacement volume of the flow rate of the pump. The MRAC is synthesized based on the experimentally identified mathematical model. To conduct the identification and experimental investigation of the controller, the authors have used an existing laboratory test setup. The comparison of the designed MRAC with conventional PI controller is performed. The control performance analysis is based on integral square error (ISE) in transient responses of the pump flow rate at different flow rate references and loads.