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Energy-efficient and high-precision control of hydraulic robots

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Energy-efficient and high-precision control of hydraulic robots. / Koivumäki, Janne; Zhu, Wen Hong; Mattila, Jouni.

In: Control Engineering Practice, Vol. 85, 01.04.2019, p. 176-193.

Research output: Contribution to journalArticleScientificpeer-review

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Koivumäki, J, Zhu, WH & Mattila, J 2019, 'Energy-efficient and high-precision control of hydraulic robots', Control Engineering Practice, vol. 85, pp. 176-193. https://doi.org/10.1016/j.conengprac.2018.12.013

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Koivumäki, Janne ; Zhu, Wen Hong ; Mattila, Jouni. / Energy-efficient and high-precision control of hydraulic robots. In: Control Engineering Practice. 2019 ; Vol. 85. pp. 176-193.

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@article{22166ab539374c18bc06a3225a2998ce,
title = "Energy-efficient and high-precision control of hydraulic robots",
abstract = "In addition to high-precision closed-loop control performance, energy efficiency is another vital characteristic in field-robotic hydraulic systems as energy source(s) must be carried on board in limited space. This study proposes an energy-efficient and high-precision closed-loop controller for the highly nonlinear hydraulic robotic manipulators. The proposed method is twofold: 1) A possibility for energy consumption reduction is realized by using a separate meter-in separate meter-out (SMISMO) control set-up, enabling an independent metering (pressure control) of each chamber in hydraulic actuators. 2) A novel subsystem-dynamics-based and modular controller is designed for the system actuators, and it is integrated to the previously designed state-of-the-art controller for multiple degrees-of-freedom (n-DOF) manipulators. Stability of the overall controller is rigorously proven. The comparative experiments with a three-DOF redundant hydraulic robotic manipulator (with a payload of 475 kg) demonstrate that: 1) It is possible to design the triple objective of high-precision piston position, piston force and chamber pressure trackings for the hydraulic actuators. 2) In relation to the previous SMISMO-control methods, unprecedented motion and chamber pressure tracking performances are reported. 3) In comparison to the state-of-the-art motion tracking controller with a conventional energy-inefficient servovalve control, the actuators’ energy consumption is reduced by 45{\%} without noticeable motion control (position-tracking) deterioration.",
keywords = "Energy efficiency, Hydraulic robots, Independent metering, Nonlinear control, SMISMO control, Stability analysis",
author = "Janne Koivum{\"a}ki and Zhu, {Wen Hong} and Jouni Mattila",
year = "2019",
month = "4",
day = "1",
doi = "10.1016/j.conengprac.2018.12.013",
language = "English",
volume = "85",
pages = "176--193",
journal = "Control Engineering Practice",
issn = "0967-0661",
publisher = "Elsevier",

}

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TY - JOUR

T1 - Energy-efficient and high-precision control of hydraulic robots

AU - Koivumäki, Janne

AU - Zhu, Wen Hong

AU - Mattila, Jouni

PY - 2019/4/1

Y1 - 2019/4/1

N2 - In addition to high-precision closed-loop control performance, energy efficiency is another vital characteristic in field-robotic hydraulic systems as energy source(s) must be carried on board in limited space. This study proposes an energy-efficient and high-precision closed-loop controller for the highly nonlinear hydraulic robotic manipulators. The proposed method is twofold: 1) A possibility for energy consumption reduction is realized by using a separate meter-in separate meter-out (SMISMO) control set-up, enabling an independent metering (pressure control) of each chamber in hydraulic actuators. 2) A novel subsystem-dynamics-based and modular controller is designed for the system actuators, and it is integrated to the previously designed state-of-the-art controller for multiple degrees-of-freedom (n-DOF) manipulators. Stability of the overall controller is rigorously proven. The comparative experiments with a three-DOF redundant hydraulic robotic manipulator (with a payload of 475 kg) demonstrate that: 1) It is possible to design the triple objective of high-precision piston position, piston force and chamber pressure trackings for the hydraulic actuators. 2) In relation to the previous SMISMO-control methods, unprecedented motion and chamber pressure tracking performances are reported. 3) In comparison to the state-of-the-art motion tracking controller with a conventional energy-inefficient servovalve control, the actuators’ energy consumption is reduced by 45% without noticeable motion control (position-tracking) deterioration.

AB - In addition to high-precision closed-loop control performance, energy efficiency is another vital characteristic in field-robotic hydraulic systems as energy source(s) must be carried on board in limited space. This study proposes an energy-efficient and high-precision closed-loop controller for the highly nonlinear hydraulic robotic manipulators. The proposed method is twofold: 1) A possibility for energy consumption reduction is realized by using a separate meter-in separate meter-out (SMISMO) control set-up, enabling an independent metering (pressure control) of each chamber in hydraulic actuators. 2) A novel subsystem-dynamics-based and modular controller is designed for the system actuators, and it is integrated to the previously designed state-of-the-art controller for multiple degrees-of-freedom (n-DOF) manipulators. Stability of the overall controller is rigorously proven. The comparative experiments with a three-DOF redundant hydraulic robotic manipulator (with a payload of 475 kg) demonstrate that: 1) It is possible to design the triple objective of high-precision piston position, piston force and chamber pressure trackings for the hydraulic actuators. 2) In relation to the previous SMISMO-control methods, unprecedented motion and chamber pressure tracking performances are reported. 3) In comparison to the state-of-the-art motion tracking controller with a conventional energy-inefficient servovalve control, the actuators’ energy consumption is reduced by 45% without noticeable motion control (position-tracking) deterioration.

KW - Energy efficiency

KW - Hydraulic robots

KW - Independent metering

KW - Nonlinear control

KW - SMISMO control

KW - Stability analysis

U2 - 10.1016/j.conengprac.2018.12.013

DO - 10.1016/j.conengprac.2018.12.013

M3 - Article

VL - 85

SP - 176

EP - 193

JO - Control Engineering Practice

JF - Control Engineering Practice

SN - 0967-0661

ER -