Position Control of an Electrohydraulic System by a Single Board Computer for Control Education

Resumen: This work presents the experimental development of the position control of a mechatronic system composed of a double acting hydraulic cylinder driven by a 4/2 solenoid valve with spring return through a single board computer and instrumentation with feedback loop. The low-cost experimental platform for the control implementation has been integrated through the use of a Raspberry Pi minicomputer, programmed with Python language that executes the control actions and obtains the position measurement data of the rod end through an infrared distance sensor and an analog-to-digital converter. Classical control schemes based on PWM signal manipulation have been experimentally tested to control the solenoid valve excitation. The results verify the widely known theoretical understanding of the impact of proportional, derivative, and integral gains of a PID controller. In addition, the experimental platform setup allows for laboratory practices of control systems courses in engineering education.

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Edgar H. Robles, Felipe J. Torres, Ana C. Negrete, Jesús E. Martínez, Diego A. Núñez, Raúl Rivera. Position Control of an Electrohydraulic System by a Single Board Computer for Control Education. Memorias del Congreso Nacional de Control Automático, pp. 513-518, 2023.

Palabras clave

Cómputo para Control; Robótica y Mecatrónica; Educación en Control

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