DOI: https://doi.org/10.1109/TASE.2024.3354952
A Position Controller for Hydraulic Excavators with Deadtime and Regenerative Pipelines
DOI:
https://doi.org/10.51094/jxiv.440キーワード:
Position control、 Hydraulic system、 Time delay抄録
This paper proposes a position controller for commercial hydraulic excavators. It is constructed by combining a proportional-derivative (PD) controller and a sliding-mode controller as a differential algebraic inclusion and also is integrated with a recently-proposed hydraulic actuator model. The use of the PD control is intended to make the controller insensitive to the deadtime in the hydraulic system, which is typically 0.1 s to 0.6 s in commercial excavators. The use of the sliding-mode controller combined with the actuator model is for handling the saturation of the actuator force, which may happen when the target position is not close enough to the current position and when the relief valves open. Moreover, this paper extends the controller to deal with the effect of the regenerative pipelines, which are embedded in commercial excavators to realize efficient operations but act as a source of disturbance on the controller. This paper also shows an analysis that can be used for tuning the controller parameters. The proposed controller was validated with simulations and experiments using a 13-ton class excavator, in which some set-point control tasks and trajectory-tracking tasks were performed.利益相反に関する開示
The authors declare no potential conflict of interest.ダウンロード *前日までの集計結果を表示します
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投稿日時: 2023-07-05 09:49:17 UTC
公開日時: 2023-07-10 00:32:19 UTC — 2023-11-22 05:27:07 UTCに更新
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- 2023-11-22 05:27:07 UTC（3）
- 2023-09-13 07:39:01 UTC（2）
- 2023-07-10 00:32:19 UTC（1）
改版理由
The manuscript has been revised in some places.ライセンス
Copyright（c）2023
Yamamoto, Yuki
Jinjun Qiu
Takayuki Doi
Takao Nanjo
Koji Yamashita
Ryo Kikuuwe
この作品は、Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licenseの下でライセンスされています。
