Adaptive open-loop control method for a hydraulically driven flexible manipulator

Kovanen, Janne; Handroos, Heikki

doi:10.1109/aim.2001.936805

Cited by 5 publications

(5 citation statements)

References 1 publication

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“…As hydraulic systems present highly nonlinear dynamics, the following assumptions have been made: There are individual link velocity constraints , as we rely on the properties of the internal hydraulic control system from the commercial servo‐valve unit (Sauer‐Danfoss, ). Nonflexible dynamics , as the main computer system employs posicast control or input shaping algorithms to avoid residual crane oscillations(HIAB, ; John Deere, ; Kovanen and Handroos, ). Motions of the grapple and rotator are performed by the operator , therefore grasping and releasing the logs relies on human ability. The crane has a fixed reference frame placed on top of the vehicle , and its variation according to the world coordinate is not compensated. However, we rely on the mechanical passive attitude control for local tilting of the machine.…”

Section: Introductionmentioning

confidence: 99%

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

et al. 2014

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Working with forestry machines requires a great deal of training to be sufficiently skilled to operate forestry cranes. In view of this, it would be desirable within the forestry industry to introduce automated motions, such as those seen in robotic arms, to shorten the training time and make the work of the operator easier. Motivated by this fact, we have developed two experimental platforms for testing control systems and motionplanning algorithms in real time. They correspond to a laboratory setup and a commercial version of a hydraulic manipulator used in forwarder machines. The aim of this article is to present the results of this development by providing an overview of our trajectory-planning algorithm and motion-control method, with a subsequent view of the experimental results. For motion control, we design feedback controllers that are able to track reference trajectories based on sensor measurements. Likewise, we provide arguments to design controllers in an open-loop for machines that lack sensing devices. Relying on the tracking efficiency of these controllers, we design time-efficient reference trajectories of motions that correspond to logging tasks. To demonstrate performance, we provide an overview of extensive testing done on these machines. C 2014 Wiley Periodicals, Inc.

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Section: Introductionmentioning

confidence: 99%

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

et al. 2014

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“…In Kovanen and Handroos (2002) the active oscillation damping of a flexible hydraulic manipulator is investigated, whereby the analysis res. the calculation of the damping signal bases on the concept by Yamagata (1993).…”

Section: Combined Damping Controlsmentioning

confidence: 99%

“…Comparison of active oscillation damping concepts for mobile machines Combined Controls with ValveKawaguchi et al (1994) Combined Controls with ValveKovanen and Handroos (2002) Downloaded by [New York University] at 13:40 23 July 2015 retical and Applied Mechanics: IUTAM Symposium, Bath, UK. Campos, J., Davis, L., Lewis, F. L., Ikenga, S., Scully, S. and Evans, M. 1999.…”

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confidence: 99%

An Overview about Active Oscillation Damping of Mobile Machine Structure

Rahmfeld¹,

Ivantysynova²

2004

International Journal of Fluid Power

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One main current demand for mobile machinery development is the improvement of operator comfort and productivity in order to be competitive on the global market in the future. Actual trends towards cost effective actuator systems in offroad vehicles and thereby the use of electrohydraulic actuators reflects also the task of active oscillation damping of the machine structure. In the past several concepts, which differ in hydraulic system, control and sensor strategy, have been developed. However, the practical use is still minor as in most cases passive oscillation systems, which base upon high pressure hydro-pneumatic accumulators, are widely used although the component costs and frequent check intervals are problematic for this technology. This paper presents an overview of research work done in the area of active oscillation damping technologies for offroad vehicles.

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“…Simulation results showed that vibration amplitudes were reduced with the proposed adaptive control function. 18 La Hera et al 19 designed a cascade controller that was used to control hydraulic torque and reduce oscillations. There were two stages of the cascade control: the outer loop controller computed the reference torque and the inner loop controller calculated the valve input based on the reference torque.…”

Section: Introductionmentioning

confidence: 99%

Application of self-tuning fuzzy proportional–integral–derivative control in hydraulic crane control system

Hao

Kan

2016

Advances in Mechanical Engineering

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Generally, pressure oscillation has negative effect on hydraulic crane system which requires high dynamic stability under a flexible operating condition. In order to reduce the hydraulic pressure oscillation, a self-tuning fuzzy proportional-integral-derivative control strategy is proposed for improving the control performance of hydraulic crane. In this article, a fuzzy proportional-integral-derivative controller which consists of a proportional-integral-derivative controller and a fuzzy inference unit with two inputs and three outputs is designed for valve control. Both fuzzy proportional-integralderivative control and traditional proportional-integral-derivative control are simulated using MATLAB based on the model of hydraulic crane. Simulation experiments are conducted with different crane tip velocities. The experimental results show that pressure amplitude reduced about 25% at low velocity and pressure oscillation of hydraulic cylinder is suppressed comparing with traditional proportional-integral-derivative controller. In addition, fuzzy proportional-integral-derivative control enables a smoother variation and a higher accuracy in changing processes of joint angle and crane tip position. The performance of the hydraulic crane is improved.

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Adaptive open-loop control method for a hydraulically driven flexible manipulator

Cited by 5 publications

References 1 publication

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

An Overview about Active Oscillation Damping of Mobile Machine Structure

Application of self-tuning fuzzy proportional–integral–derivative control in hydraulic crane control system

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