Adding Active Damping to Energy-Efficient Electro-Hydraulic Systems for Robotic Manipulators — Comparing Pressure and Acceleration Feedback

Padovani, Damiano

doi:10.1109/icrae50850.2020.9310881

Cited by 6 publications

(5 citation statements)

References 26 publications

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“…Such study was validated experimentally by several research groups on different machines. [15][16][17] Cheng et al 18 compare the two strategies investigating their effectiveness through the motion of a robotic manipulator. The pressure feedback induces a higher overshoot, and an increased settling time can be observed during the motion of the actuator, as Padovani 16 also confirms.…”

Section: Active Damping On Front Loadersmentioning

confidence: 99%

“…[15][16][17] Cheng et al 18 compare the two strategies investigating their effectiveness through the motion of a robotic manipulator. The pressure feedback induces a higher overshoot, and an increased settling time can be observed during the motion of the actuator, as Padovani 16 also confirms. This is justified by the fact that the pressure feedback methodology introduces additional dynamics.…”

Section: Active Damping On Front Loadersmentioning

confidence: 99%

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An active oscillation reduction method for off-highway front loaders

Madau

Vacca

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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Cabin vibration in construction machines is a known issue affecting both comfort and safety of the operators, and it also induces losses in machine productivity. The solution offered in commercial machines, known as the passive ride control, has the drawbacks of limited performance on a wide range of operating conditions and component costs, which has motivated research toward “active” alternatives that utilize electro-hydraulic systems without additional components. Nonetheless, the nonlinearities and the dynamic response of these systems constraint the performance of such alternatives, when compared to the commercial solution and therefore, their diffusion on the market. To address the challenges mentioned above, this article proposes an alternative hydraulic system layout to perform the ride control function based on connecting the boom lift actuators of the front-end loader in differential mode. This article describes the development of two active control strategies for this new ride control system that utilizes pressure and acceleration information to suppress cabin oscillations and presents the experimental tests on a full-size wheel loader. The results show a similar capability for reducing the oscillations achieved by the commercial solution and the one proposed in this research. In certain scenarios, the proposed formulation offers up to 10% of further improvement in terms of cabin oscillation reduction.

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Section: Active Damping On Front Loadersmentioning

confidence: 99%

Section: Active Damping On Front Loadersmentioning

confidence: 99%

An active oscillation reduction method for off-highway front loaders

Madau

Vacca

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…The electro-hydraulic drives of the boom, arm, and bucket require a PI-controller acting on the position error, feedforward command based on the desired actuator velocity, and pressure feedback to add artificial damping (a detailed description is given in reference [23]). The latter characteristic is essential because the energy-efficient nature of these drives dictates extremely low damping ratios otherwise [27]. Lastly, the swing's fully electric drive uses the same control structure except for the lack of pressure feedback.…”

Section: Reference Working Cycle and Automated Control Algorithmmentioning

confidence: 99%

Energy analysis of a hybrid electro-hydraulic system for efficient mobile hydraulics

Padovani,

Rundo,

Fresia

et al. 2023

J. Phys.: Conf. Ser.

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Energy efficiency plays a significant role in mobile hydraulics due to the high amount of carbon dioxide and pollutants being released into the atmosphere. Efficiency improvements are urgently needed, so the electrification of mobile hydraulics represents a fantastic opportunity in this regard. This approach leads to electro-hydraulic systems that remove functional flow throttling in control valves and enable energy recovery. Fuels savings were already demonstrated in simulation, but the literature does not offer entire energy analyses of these electro-hydraulic solutions. This limitation prevents complete system-level comprehension and does not give enough insight to pinpoint areas for further efficiency improvements. Thus, this paper focuses on a hybrid system for excavators based on electro-hydraulic drives that is compared against the original valve-controlled layout. The objective is to quantify the energy flows insight the excavator during relevant operations and highlight the resulting energy losses. The outcomes confirm that electro-hydraulic solutions are suitable for a low-carbon economy. They indicate hydraulic actuators, speed-controlled pumps, and electric motors as the critical components for further energy efficiency enhancement excluding the combustion engine.

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“…The electro-hydraulic drives (boom, arm, and bucket) use the same control structure with the addition of artificial damping obtained via pressure feedback. The latter feature is key because the drives' energy-efficient nature dictates extremely low damping ratio for their version [26]. Therefore, tracking of the commanded actuator position (xSet) is obtained by generating a suitable speed command for the electric motor (figure 7).…”

Section: Working Cycle and Control Algorithmmentioning

confidence: 99%

Downsizing the electric machines of energy-efficient electro-hydraulic drives for mobile hydraulics

Padovani

Fresia

Rundo

et al. 2022

J. Phys.: Conf. Ser.

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The poor energy efficiency of state-of-the-art mobile hydraulics affects the carbon dioxide released into the atmosphere and the operating costs. These crucial factors require urgent improvements that can be addressed by the electrification of fluid power. This approach has already generated electro-hydraulic drives that remove flow throttling and enable energy recovery. However, the entire power managed by the actuators of conventional systems must pass through the electric machines. This characteristic is unfeasible for medium-to-high power applications since they need electric motors and electronics with high power ratings and large onboard generation of electricity. Thus, this paper applies to a hydraulic excavator’s boom the idea of splitting the power being transferred to/from the actuator between the hydraulic and electric domains (i.e., a centralized hydraulic power supply is involved). The objective is downsizing the power rating of the boom’s electric components while maintaining the high-power output of the hydraulic actuator. The results show the expected behavior of the hybrid excavator in terms of motion control, but only 57% of the boom’s peak power is now exchanged electrically. The resulting electric machine with 61% downsizing favors the system’s cost and compactness supporting the electrification process that is aligned with the low-carbon economy.

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Adding Active Damping to Energy-Efficient Electro-Hydraulic Systems for Robotic Manipulators — Comparing Pressure and Acceleration Feedback

Cited by 6 publications

References 26 publications

An active oscillation reduction method for off-highway front loaders

An active oscillation reduction method for off-highway front loaders

Energy analysis of a hybrid electro-hydraulic system for efficient mobile hydraulics

Downsizing the electric machines of energy-efficient electro-hydraulic drives for mobile hydraulics

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