Dynamic impact of hydraulic systems using pressure feedback for active damping

Cheng, Min; Luo, Shaqi; Ding, Ruqi; Xu, Bing; Zhang, Junhui

doi:10.1016/j.apm.2020.07.043

Cited by 17 publications

(4 citation statements)

References 24 publications

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“…Повышению эффективности работы гидравлических манипуляторов посвящены научные исследования многих зарубежных авторов [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18].…”

Section: технологии машины и оборудованиеunclassified

“…Обратная связь по давлению для активного демпфирования является мощным методом снижения колебаний в гидравлических системах. Для снижения динамического удара, возбуждаемого силовым возмущением, предлагается метод многокритериальной оптимизации, учитывающий компромисс между необходимым демпфированием и небольшим динамическим воздействием [7].…”

Section: технологии машины и оборудованиеunclassified

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Computer simulation of the recuperative crank mechanism for turning the column of the manipulator of a timber road train

Posmetev,

Nikonov,

Posmetev

et al. 2023

Forestry Engineering Journal

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The study is aimed at improving the efficiency of the hydraulic manipulators of timber-carrying road trains operating in difficult natural and climatic conditions. The relevance of the scientific direction is substantiated, aimed at reducing energy losses in the hydraulic drives of manipulators in the process of performing loading and unloading operations. The works of foreign scientists are analyzed, which made it possible to identify promising areas for improving the efficiency of hydraulic manipulators, including the development of more modern drives, increasing productivity, accuracy and automation of their control processes. In order to improve the energy efficiency, performance and reliability of hydraulic manipulators of timber road trains, the authors proposed a promising design of the column slewing mechanism with a crank drive. The study was based on mathematical and simulation modeling, numerical methods, as well as modern methods for obtaining and processing information with computer support. A mathematical model and a computer program for the operation of a hydraulic manipulator with a regenerative crank drive of the column slewing mechanism made it possible to estimate the recuperated energy and the swing amplitude of the transported load. When using a hydraulic manipulator equipped with the proposed crank drive, the boom length of which is on average 6 m, and the weight of the transported timber is 600 kg, the amount of energy that can be stored in the pneumohydraulic accumulator is about 1300 J. The angular unevenness of the crank drive is 23.6 % and 4.6 % when assessed in terms of recuperated energy and load swing amplitude, respectively. For a typical hydraulic manipulator with a boom length of 6 m, when braking the rotation of the column, the recuperation system allows to store from 0.39 to 2.59 kW with a load mass of 200 to 1400 kg, respectively, with an acceptable load swing amplitude, respectively, from 0.2 to 0.48 m. The obtained results will be used as recommendations for the purpose of finalizing the proposed crank drive of the rotary device of the hydraulic manipulator at the stage of its design.

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Section: технологии машины и оборудованиеunclassified

Computer simulation of the recuperative crank mechanism for turning the column of the manipulator of a timber road train

Posmetev,

Nikonov,

Posmetev

et al. 2023

Forestry Engineering Journal

View full text Add to dashboard Cite

show abstract

“…When operating a master-slave hydraulic manipulator, 25,26 the requirement of the operator is higher due to the properties of large inertia, response lag, and poor damping. Thus, the following problems occur:…”

Section: Problem Descriptionmentioning

confidence: 99%

Dynamic guidance virtual fixture for hydraulic manipulator via learning from demonstration

Cheng

Ding

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Operating heavy-duty hydraulic manipulators with a master-slave control system is very challenging to execute complex tasks in unstructured environments. In this paper, to improve the operational efficiency for performing repetitive tasks, we designed a dynamical guidance virtual fixture via learning from demonstration to assist the operation. A data fitting method is proposed by reconstituting the control vertexes to address the operation noises caused by response lag and oscillation tendency of hydraulic manipulators, such that a smooth nominal trajectory is obtained and used to generate the virtual fixture. Then, a pipe-constraint guidance virtual fixture is designed with multiple control modes to meet the demands of free and constraint motion. Comparative tests were carried out with a 3-DOF hydraulic manipulator to perform trajectory tracking tasks and movement within a limited space. Compared with no assistance, the results show that the average time of task completion can be reduced by over 50% with the proposed guidance virtual fixture. Besides, the mental pressure of the operator can be reduced since collision avoidance can be easily achieved.

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“…where vlc u is the compensator based on dynamic pressure feedback to achieve active damping control [24], ˆp G is the identified pump model. The Laplace form of vlc u is given by:…”

Section: Power Limitation (Pl)mentioning

confidence: 99%

A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery

Cheng

Sun

Ding

et al. 2021

Preprint

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In mobile machinery, hydro-mechanical pumps are increasingly replaced by electronically controlled pumps to improve the automation level, but diversified control functions(e. g., power limitation and pressure cut-off) are integrated into the electronic controller only from the pump level, leading to the potential instability of the overall system. To solve this problem, a multi-mode electrohydraulic load sensing (MELS) control scheme is proposed especially considering the switching stability from the system level, which includes four working modes of flow control, load sensing, power limitation, and pressure control. Combined with defined control priority, a switching rule including bilateral and unilateral switching for different modes is then established according to the actual requirements of mobile machinery. A comparative study was carried out based on a test rig with a 2-ton hydraulic excavator. The results show that the MELS controller can achieve the control functions of proper flow supplement, power limitation, and pressure control, which has good stability performance when switching between different control modes.

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Dynamic impact of hydraulic systems using pressure feedback for active damping

Cited by 17 publications

References 24 publications

Computer simulation of the recuperative crank mechanism for turning the column of the manipulator of a timber road train

Computer simulation of the recuperative crank mechanism for turning the column of the manipulator of a timber road train

Dynamic guidance virtual fixture for hydraulic manipulator via learning from demonstration

A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery

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