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A neural network strategy for learning of nonlinearities toward feed-forward control of pressure-compensated hydraulic valves with a significant dead zone

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationBATH/ASME 2018 Symposium on Fluid Power and Motion Control, FPMC 2018
PublisherASME
ISBN (Electronic)9780791851968
DOIs
Publication statusPublished - 2018
Publication typeA4 Article in a conference publication
EventBATH/ASME Symposium on Fluid Power and Motion Control - Bath, United Kingdom
Duration: 12 Sep 201814 Sep 2018

Conference

ConferenceBATH/ASME Symposium on Fluid Power and Motion Control
CountryUnited Kingdom
CityBath
Period12/09/1814/09/18

Abstract

A velocity feed-forward-based strategy is an effective means for controlling a heavy-duty hydraulic manipulator; in particular, a typical valve-controlled hydraulic manipulator, to compensate for valve dead-zone and other hydraulic valve nonlinearities. Based on our previous work on the adaptive learning of valve velocity feed-forwards, manually labelling and identifying the dead-zones and the other nonlinearities in the velocity feedforward curves of pressure-compensated hydraulic valves can be avoided. Nevertheless, it may take two to three minutes or more per actuator to identify a pressure-compensated valve's highly nonlinear velocity feed-forward in real-time with an adaptive approach, which should be reduced for realistic applications. In this paper, inspired by brain signal analysis technologies, we propose a new method based on deep convolutional neural networks comparing with the previous method to significantly reduce this online learning process with the strong nonlinearities of pressurecompensated hydraulic valves. We present simulation results to demonstrate the effectiveness of the deep learning-based learning method compared to the previous results with an adaptive control-based learning.

Publication forum classification

Field of science, Statistics Finland