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Model-based control of a pressure-compensated directional valve with significant dead-zone

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

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Model-based control of a pressure-compensated directional valve with significant dead-zone. / Lampinen, Santeri ; Koivumäki, Janne; Mattila, Jouni; Jouni, Niemi.

ASME/BATH 2019 Symposium on Fluid Power and Motion Control: October 7–9, 2019 Longboat Key, Florida, USA . ASME, 2019.

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

Harvard

Lampinen, S, Koivumäki, J, Mattila, J & Jouni, N 2019, Model-based control of a pressure-compensated directional valve with significant dead-zone. in ASME/BATH 2019 Symposium on Fluid Power and Motion Control: October 7–9, 2019 Longboat Key, Florida, USA . ASME, ASME/BATH Symposium on Fluid Power and Motion Control, 15/01/20. https://doi.org/10.1115/fpmc2019-1664

APA

Lampinen, S., Koivumäki, J., Mattila, J., & Jouni, N. (2019). Model-based control of a pressure-compensated directional valve with significant dead-zone. In ASME/BATH 2019 Symposium on Fluid Power and Motion Control: October 7–9, 2019 Longboat Key, Florida, USA ASME. https://doi.org/10.1115/fpmc2019-1664

Vancouver

Lampinen S, Koivumäki J, Mattila J, Jouni N. Model-based control of a pressure-compensated directional valve with significant dead-zone. In ASME/BATH 2019 Symposium on Fluid Power and Motion Control: October 7–9, 2019 Longboat Key, Florida, USA . ASME. 2019 https://doi.org/10.1115/fpmc2019-1664

Author

Lampinen, Santeri ; Koivumäki, Janne ; Mattila, Jouni ; Jouni, Niemi. / Model-based control of a pressure-compensated directional valve with significant dead-zone. ASME/BATH 2019 Symposium on Fluid Power and Motion Control: October 7–9, 2019 Longboat Key, Florida, USA . ASME, 2019.

Bibtex - Download

@inproceedings{b6d719c4dcbf4cd0b2b8cfe67ec7c09e,
title = "Model-based control of a pressure-compensated directional valve with significant dead-zone",
abstract = "Hydraulic systems on mobile manipulators and industrial systems often come equipped with pressure-compensated proportional directional control valves with significant dead-zone. These kind of hydraulic valves are well suited for open-loop applications with an operator in control. However, designing closed-loop control for such systems is a challenging task. In this study, we propose a model-based control method for such valves to increase the performance of the current state-of-the-art in industrial robotic manipulator control. The proposed control method rigorously addresses the dynamics of a hydraulic manipulator system with dead-zone compensation for pressure-compensated directional control valves. The proposed method is evaluated with experiments on a commercial heavy-duty breaker boom with Sauer-Danfoss PVG 120 valves. The experimental results show accurate control of the manipulator despite the used slow-response load sensing valves.",
author = "Santeri Lampinen and Janne Koivum{\"a}ki and Jouni Mattila and Niemi Jouni",
year = "2019",
month = "10",
day = "7",
doi = "10.1115/fpmc2019-1664",
language = "English",
isbn = "9780791859339",
booktitle = "ASME/BATH 2019 Symposium on Fluid Power and Motion Control",
publisher = "ASME",

}

RIS (suitable for import to EndNote) - Download

TY - GEN

T1 - Model-based control of a pressure-compensated directional valve with significant dead-zone

AU - Lampinen, Santeri

AU - Koivumäki, Janne

AU - Mattila, Jouni

AU - Jouni, Niemi

PY - 2019/10/7

Y1 - 2019/10/7

N2 - Hydraulic systems on mobile manipulators and industrial systems often come equipped with pressure-compensated proportional directional control valves with significant dead-zone. These kind of hydraulic valves are well suited for open-loop applications with an operator in control. However, designing closed-loop control for such systems is a challenging task. In this study, we propose a model-based control method for such valves to increase the performance of the current state-of-the-art in industrial robotic manipulator control. The proposed control method rigorously addresses the dynamics of a hydraulic manipulator system with dead-zone compensation for pressure-compensated directional control valves. The proposed method is evaluated with experiments on a commercial heavy-duty breaker boom with Sauer-Danfoss PVG 120 valves. The experimental results show accurate control of the manipulator despite the used slow-response load sensing valves.

AB - Hydraulic systems on mobile manipulators and industrial systems often come equipped with pressure-compensated proportional directional control valves with significant dead-zone. These kind of hydraulic valves are well suited for open-loop applications with an operator in control. However, designing closed-loop control for such systems is a challenging task. In this study, we propose a model-based control method for such valves to increase the performance of the current state-of-the-art in industrial robotic manipulator control. The proposed control method rigorously addresses the dynamics of a hydraulic manipulator system with dead-zone compensation for pressure-compensated directional control valves. The proposed method is evaluated with experiments on a commercial heavy-duty breaker boom with Sauer-Danfoss PVG 120 valves. The experimental results show accurate control of the manipulator despite the used slow-response load sensing valves.

U2 - 10.1115/fpmc2019-1664

DO - 10.1115/fpmc2019-1664

M3 - Conference contribution

SN - 9780791859339

BT - ASME/BATH 2019 Symposium on Fluid Power and Motion Control

PB - ASME

ER -