0000000000116337
AUTHOR
Viktor Hristov Donkov
An analysis of model predictive control with integral action applied to digital displacement cylinders
This article aims to analyze Model Predictive Control (MPC) for the control of multi-chamber cylinders. MPC with and without integral action has been introduced. Three different algorithms have been used to solve the optimization problem in the MPC. The different algorithms have been compared with an industrial solver. The influence of changing mass, choosing a different middle line pressure, system delays, signal noise, velocity estimation, and changing pressure levels has been investigated. It is concluded that for the small prediction horizon used in the paper a simple algorithm such as A can produce results as good as the previously used Differential Evolution algorithm in less than hal…
Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane
In this paper, two Discrete Displacement Cylinders (DDCs) are used to drive the boom of a knuckle boom crane. DDCs operate by connecting one of several available pressure levels to each chamber in order to produce different forces. A trade-off exists with such systems, between the accuracy of tracking and energy dissipation due to switching. A popular way to approach this problem is a Force Shifting Algorithm (FSA). However, in this paper, the trade-off is managed by use of a Model Predictive Control (MPC) algorithm. The tracking accuracy and energy efficiency of the MPC and FSA strategies for DDCs are compared to a PID strategy for standard cylinders. The comparison is obtained by use of a…
Digital Hydraulic Technology for Linear Actuation:A State of the Art Review
This paper analyses the current state of the art in linear actuation with digital hydraulics. Based on the differences in their aims the paper partitions the area into four actuation concepts – parallel valve solutions, single switching valve solutions, multi-chamber cylinders, and multi-pressure cylinders. The concepts are evaluated based on accuracy and smoothness of motion, switching load, reliability, efficiency and the number of components required.