TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

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

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Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoASME/BATH 2019 Symposium on Fluid Power and Motion Control
AlaotsikkoOctober 7–9, 2019 Longboat Key, Florida, USA
KustantajaASME
ISBN (painettu)9780791859339
DOI - pysyväislinkit
TilaJulkaistu - 7 lokakuuta 2019
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaASME/BATH Symposium on Fluid Power and Motion Control -
Kesto: 15 tammikuuta 2020 → …

Conference

ConferenceASME/BATH Symposium on Fluid Power and Motion Control
Ajanjakso15/01/20 → …

Tiivistelmä

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.

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