6533b820fe1ef96bd127a4fd
RESEARCH PRODUCT
Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder
Michael Rygaard HansenKonrad Johan JensenMorten Kjeld Ebbesensubject
0209 industrial biotechnologyAdaptive controlFluid PowerComputer sciencemotion controlComputer Science::Neural and Evolutionary Computationhydraulicsdifferential cylinder02 engineering and technologyAdaptiv reguleringadaptive controllcsh:TechnologyRoot mean squarelcsh:Chemistry020901 industrial engineering & automationControl theoryConvergence (routing)feedforwardCylinderGeneral Materials ScienceVDP::Andre maskinfag: 579Instrumentationlcsh:QH301-705.5Fluid Flow and Transfer Processeslcsh:TProcess Chemistry and TechnologyGeneral EngineeringFeed forwardVDP::Other machinery sciences: 579021001 nanoscience & nanotechnologyMotion controllcsh:QC1-999BevegelsesstyringComputer Science Applicationslcsh:Biology (General)lcsh:QD1-999lcsh:TA1-2040Hydraulikk0210 nano-technologyReduction (mathematics)lcsh:Engineering (General). Civil engineering (General)lcsh:Physicsdescription
This paper presents the design, simulation and experimental verification of adaptive feedforward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane. Based on common adaptation methods, a typical electro-hydraulic motion control system has been extended with a novel adaptive feedforward controller that has two separate feedforward states, i.e, one for each direction of motion. Simulations show convergence of the feedforward states, as well as 23% reduction in root mean square (RMS) cylinder position error compared to a fixed gain feedforward controller. The experiments show an even more pronounced advantage of the proposed controller, with an 80% reduction in RMS cylinder position error, and that the separate feedforward states are able to adapt to model uncertainties in both directions of motion.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2020-11-05 | Applied Sciences |