TUTCRIS - Tampereen teknillinen yliopisto


Characteristics of Digital Hydraulics with Commercial Controllers



OtsikkoThe Seventh Workshop on Digital Fluid Power
KustantajaLinz Center of Mechatronics
ISBN (painettu)978-3-200-04014-4
TilaJulkaistu - helmikuuta 2015
OKM-julkaisutyyppiB3 Artikkeli konferenssijulkaisussa
TapahtumaWorkshop on Digital Fluid Power -
Kesto: 1 tammikuuta 1900 → …


ConferenceWorkshop on Digital Fluid Power
Ajanjakso1/01/00 → …


Model-based control algorithms of digital hydraulic valves offer optimized control performance, but are computationally heavy. Research work has been carried out using PC hardware such as dSPACE real-time systems. In order to apply digital hydraulic valve control in real, series production application, the algorithms should be redesigned such that controllers with limited computation power are sufficient. The paper presents methods for lowering the computational burden and shows the effect of optimization methods in execution time. Model-based controller design is carried out in MATLAB/Simulink and automatic code generation is used in implementation phase. A wheel loader equipped with digital hydraulic valve system is presented as a test case, where control algorithms are implemented on commercial Bosch Rexroth BODAS RC controller. Preliminary work for computationally faster control algorithms is carried out on mobile boom mock-up. The methods presented decrease the execution time to approximately 1/194 of the original.