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.440Keywords:
Position control, Hydraulic system, Time delayAbstract
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.Conflicts of Interest Disclosure
The authors declare no potential conflict of interest.Downloads *Displays the aggregated results up to the previous day.
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Submitted: 2023-07-05 09:49:17 UTC
Published: 2023-07-10 00:32:19 UTC — Updated on 2023-11-22 05:27:07 UTC
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- 2023-09-13 07:39:01 UTC (2)
- 2023-07-10 00:32:19 UTC (1)
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Copyright (c) 2023
Yuki Yamamoto
Jinjun Qiu
Takayuki Doi
Takao Nanjo
Koji Yamashita
Ryo Kikuuwe
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
