Justin DARNET defended his PhD on Dec. 12th, 2024.
Place : amphitheatre Laura BASSI, INSA Lyon, 19 avenue Jean Capelle Ouest, 69621 Villeurbanne
Jury :
Rapporteurs :
M. Jean-Charles MARE, professeur des universités, INSA Toulouse
M. Rachid OUTBIB, professeur des universités, Université Aix Marseille
Examinateurs :
Mme Isabelle QUEINNEC, directrice de recherche, LAAS CNRS
M. Michel BASSET, professeur des universités, Université de Haute Alsace
Encadrement :
M. Eric BIDEAUX, professeur des universités, directeur de thèse
M. Jean-François TREGOUET, maître de conférences, co-encadrant
Abstract :
Hydraulic transmissions are widely used today in industries, transportation, and high-power machinery mobility. Over the past decades, digital hydraulics has been the focus of extensive research, emerging as a solution to reduce energy consumption in transmissions while enhancing their controllability and maintainability at lower costs compared to conventional solutions. New hydraulic motor architectures using digital valves have been developed. We focused on the control of digital radial piston hydraulic motors to improve the efficiency, and the motion control of machines equipped with such motors.
After reviewing the architectures and control strategies available in the literature for this type of component, we developed various models of our digital hydraulic drive. An innovative control strategy was designed to regulate the torque of an elementary digital hydraulic motor, taking oil compressibility into account. Control constraints were proposed and integrated into the control system to facilitate the integration of the component into a hydraulic transmission. To conclude this study, we discussed the remaining technological challenges to be addressed.
Then, we investigated two other control strategies already documented in the literature, which are notably used to control electric machines and digital hydraulic motors/pumps. A direct torque control method was studied in detail and implemented to regulate either the torque or the speed of the digital motor. Finally, we developed a predictive control strategy to efficiently manage the motor speed, and we examined in detail the influence of various control parameters on motor behaviour.
Keywords:
digital hydraulics, hydraulic motor, control, modelling