Force and Position Control for Electrohydraulic Systems of a Robotic Excavator

Ha, QP; Nguyen, Quoc-Hung; Rye, D. C.; Durrant‐Whyte, Hugh

doi:10.22260/isarc1999/0075

Cited by 7 publications

(10 citation statements)

References 8 publications

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“…The RMS errors of sinusoidal force tracking are 371.386 N and 457.737 N for the controllers with and without friction compensation, respectively. The RMS errors as well as average errors at maximum compression forces are also shown in in table 1. 10).…”

Section: Resultsmentioning

confidence: 99%

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PID electro-hydraulic cylinder force tracking system with friction compensation

Chanbua

Pinsopon

2018

MATEC Web Conf.

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Abstract. Friction can be found in all mechanical systems, and is the cause of control tracking error. In this article, LuGre friction model for symmetric hydraulic cylinder was studied and obtained experimentally. The estimated friction force was applied for reference force compensation. Force tracking performances of PID force control systems with and without friction compensation were tested and compared. Control system with friction compensation outperformed one without in all cases of tracking tests. The best result was found in the square force tracking tests, with an average error at maximum compression force of 86.105 N in the case of with friction compensation compared with error of 511.996 N in the case without. However, the estimated friction achieved in the study was noisy. This is due to the use of noisy numerically differentiated velocity signal in the friction estimation procedure.

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Section: Resultsmentioning

confidence: 99%

“…Electrohydraulic force control systems are used various industrial applications such as press machine, earth moving equipment [1] and flight simulator [2]. Hydraulic cylinder is the main actuator used in force control applications.…”

Section: Introductionmentioning

confidence: 99%

PID electro-hydraulic cylinder force tracking system with friction compensation

Chanbua

Pinsopon

2018

MATEC Web Conf.

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“…The performance of the overall control loop is experimentally demonstrated. An external disturbance estimation and compensation scheme based on a sliding mode observer also is presented in [5]. Therein, it also is written that hydraulic servos are affected by a variety of frictional forces and that there is a need to compensate for the influence of the external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces

Koch

Reichhartinger

2016

Elektrotech. Inftech.

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A laboratory hydraulic setup consisting of a coupled actuating and load cylinder is investigated in order to emulate real world working conditions of heavy equipment such as excavators and loaders. An observer-based control scheme is proposed to regulate the position of the actuating cylinder. It relies on on-line identification of unknown parameter as well as reconstruction and compensation of unknown load forces, such that the performance of the closed position feedback loop is superior compared to classical control strategies. The applied method exploit ideas of variable structure systems in the design of both, the observer and the parameter identification scheme.Keywords: robust control; sliding mode control; robust exact differentiation; finite time parameter estimation; uncertain systems; hydraulic actuator Beobachterbasierte Sliding Mode-Regelung eines Hydraulikzylinders unter unbekannten Lastkräften.

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“…The development trend of hydraulic excavators from mechanical-hydraulic to intelligent mechatronic machinery, i.e. robotic hydraulic excavators, is obvious [1,2,3,4,5]. Instead of an earth-digging machine, hydraulic excavators will become multipurpose servo robots for high loading, high precision and large-scale applications.…”

Section: Introductionmentioning

confidence: 99%

Experimental implementation of complex path tracking control for large robotic hydraulic excavators

Chiang

Huang

2004

The International Journal of Advanced Manufacturing Technology

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The experimental implementation of the path tracking control of a real hydraulic excavator with an operating weight of 4,500 kg for realising a large hydraulic servo robot with a high loading ability is described in this article. The three working arms are driven by hydraulic valve-controlled cylinders with boom structure systems to achieve rotational motion. Accordingly, the non-linearity of the boom mechanisms, large masses, large dimensions and low natural frequency of the working arms, as well as the coupling influence between the multi-body systems of the three working arms make it difficult to realise high accuracy path tracking control. The control strategy of the model reference adaptive control, which has a simple algorithm and on-line self-tuning ability, is used. Complex path profiles tracking can be achieved by the combination of the path tracking control of the three working arms. Consequently, the large hydraulic excavator can be used as large multi-purpose robots for high loading and high precision applications.

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Force and Position Control for Electrohydraulic Systems of a Robotic Excavator

Cited by 7 publications

References 8 publications

PID electro-hydraulic cylinder force tracking system with friction compensation

PID electro-hydraulic cylinder force tracking system with friction compensation

Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces

Experimental implementation of complex path tracking control for large robotic hydraulic excavators

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