Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane

Donkov, Viktor Hristov; Andersen, Torben Ole; Pedersen, Henrik C.; Ebbesen, Morten Kjeld

doi:10.1109/gfps.2018.8472363

Cited by 5 publications

(17 citation statements)

References 6 publications

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“…Here the conventional control valve is replaced by several on/off valves which may be supplied by multiple pressure lines (Hedegaard Hansen et al, 2017;Linjama et al, 2003;Hedegaard Hansen and Pedersen, 2016;Hedegaard Hansen et al, 2018). In Donkov et al (2017Donkov et al ( , 2018 a simulation study investigating actuation of a knuckle boom crane using the digital hydraulic technology was conducted. The results show an improved energy efficiency, but an unsatisfying tracking performance due to the discrete valve switching.…”

Section: Introductionmentioning

confidence: 99%

A Self-Contained Cylinder Drive with Indirectly Controlled Hydraulic Lock

Ketelsen¹,

Andersen²,

Ebbesen³

et al. 2020

MIC

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This paper presents a self-contained pump-controlled hydraulic linear drive including an innovative load holding sub-circuit. For safety critical applications such as crane manipulators, locking valves or load holding valves are enforced by legislation, but the load holding functionality may also be used actively to decrease the energy consumption for applications where the load is kept stationary for longer periods of time. The system proposed in this paper is based on a simple hydraulic architecture using two variablespeed electric motors each connected to a fixed-displacement pump. This architecture is well-known in academic literature, but in this paper a novel load holding sub-circuit has been included. To control this load holding functionality, the low chamber pressure needs to be controlled accurately, while still being able to control the motion of the cylinder piston as well. Due to strong cross-couplings between cylinder piston motion and chamber pressures this task is non-trivial. The control for opening the locking valves is indirect in the sense that it is controlled via the chamber pressures, which are actively controlled. The fundamental control strategy presented in this paper is based on transforming the highly coupled physical states to virtual states, significantly reducing cross-couplings. As a case study, a two link medium sized knuckle boom crane is selected as an application example. Simulation results confirm the applicability of the proposed system. Appropriate position tracking performance has been achieved for the considered motion trajectory, while the low chamber pressure is controlled in a satisfying manner. A smooth transition from motion operating mode to load holding mode is achieved, with the system not requiring any input energy to keep the load stationary when the hydraulic cylinder lock is engaged.

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Section: Introductionmentioning

confidence: 99%

A Self-Contained Cylinder Drive with Indirectly Controlled Hydraulic Lock

Ketelsen¹,

Andersen²,

Ebbesen³

et al. 2020

MIC

Self Cite

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“…In tool center space this can be seen in Fig. 11 taken from Donkov et al (2018). The trajectory consists of starting the load at point 1, moving it to point 2 and returning it to point 1.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…The hydraulic system structure is shown in Fig. 10, and has also been used in Donkov et al (2018). The motion of the cylinders is controlled by the directional proportional valves.…”

Section: Benchmark Systemmentioning

confidence: 99%

Energy Saving Potential in Knuckle Boom Cranes using a Novel Pump Controlled Cylinder Drive

Ketelsen

Schmidt

Donkov

et al. 2018

MIC

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This paper is considering the application of a novel pump controlled cylinder drive, the so-called Speedvariable Switched Differential Pump (SvSDP), for knuckle boom crane actuation. Especially the control system for the SvSDP drive is considered, and aiming on improving energy efficiency a refinement of the existing control structure is proposed. An energy efficient sizing algorithm for the SvSDP drive is developed, and fundamental differences between the achievable operating range for the SvSDP drive compared to a conventional valve-cylinder drive are discussed. A case study is conducted with knuckle boom crane actuation, and compared to a conventional valve actuation. Simulation results show that the motion tracking performance is on a similar level compared to the valve actuation approach, while the energy consumption is drastically decreased. For the given test trajectory the valve actuation system consumes 0.79 kWh of electrical energy, while the SvSDP drive consume 0.06 kWh, if ideal energy recovery and storage is assumed.

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“…A simulation of the entire trajectory run is used for each evaluation, which makes the method slow. Two algorithms are used in the control of multi-chamber cylinders -Force Selection Algorithm (FSA) used in Huova et al (2010) and Hansen et al (2011), and Model Predictive Control (MPC) used in Donkov et al (2018), Hansen et al (2018). In Heybroek and Sjöberg (2018) both algorithms are used in a sense as a FSA is used to generate a pressure ref-erence and then a MPC is used to control the valves during the switching event.…”

Section: Introductionmentioning

confidence: 99%

“…In Heybroek and Sjöberg (2018) both algorithms are used in a sense as a FSA is used to generate a pressure ref-erence and then a MPC is used to control the valves during the switching event. In Hansen et al (2017) and Donkov et al (2018) it was shown that MPC can perform better than FSA for position tracking problems, but in these papers and others the computational burden of the algorithm is mentioned as a significant issue. In Donkov et al (2018) the MPC could not deal with the changing load.…”

Section: Introductionmentioning

confidence: 99%

An analysis of Model Predictive Control with Integral Action applied to Digital Displacement Cylinders

Donkov¹,

Andersen²,

Ebbesen³

2020

MIC

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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 half the time. It is further concluded that unknown software delays and unknown changes in mass have the largest effect on system performance.

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Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane

Cited by 5 publications

References 6 publications

A Self-Contained Cylinder Drive with Indirectly Controlled Hydraulic Lock

A Self-Contained Cylinder Drive with Indirectly Controlled Hydraulic Lock

Energy Saving Potential in Knuckle Boom Cranes using a Novel Pump Controlled Cylinder Drive

An analysis of Model Predictive Control with Integral Action applied to Digital Displacement Cylinders

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