Dynamic Analysis of a Low-Speed, High-Torque Hydro-Motor Drive System to Maintain a Constant Drive Speed Using ANN-Based Fuzzy PI Controller

Abstract

In this chapter, a dynamic analysis of a low-speed, high-torque gerotor motor drive system is performed under varying load-condition. These drive systems are predominantly used in heavy earth moving machineries, construction machineries and industrial applications where high torque is required. As the load increases, the angular velocity of the gerotor motor decreases due to the decreased volumetric efficiency of the hydraulic components. To compensate the increased leakage losses, the prime mover speed is controlled using an artificial neural network-based fuzzy PI controller in the present research work. The fuzzy PI Controller, varies the constant gain terms of the PI controller with the variation in the error signal. Such controller provides a large control signal to reduce the error signal initially and it reduces the Kp and Ki values continuously as the error signal approaches to the zero. To fulfill the above requirement of continuously varying PI parameters, the fuzzy method is used that interpolates the variables from input–output data-set using the assigned fuzzy membership function. The fuzzy membership functions of the controller are trained and rules are optimized through an artificial neural network. The control strategy adopted controls the discharge given to the gerotor motor, which drives the gerotor motor at a constant speed regardless of the load. In this regard, a Simscape model is developed for the given control configuration and verified on the test rig. Using the said controller, a constant speed gerotor motor drive is achieved irrespective of the loading on the gerotor motor and successfully implemented on the test rig.