A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach

Abstract

This article presents a control method for suppressing the swing vibration of a hybrid excavator. For control design, dynamic models of typical swing motions of the hybrid excavator are derived using a system identification technique. Because the system states of the obtained models are not directly measurable, a sliding mode observer is designed to estimate the system states. A sliding mode control is designed to provide robust tracking performance against the parameter variations and uncertain non-linearities caused by changes in the working conditions. A complicated mathematical model of the hybrid excavator which captures detailed mechanical, electrical, and hydraulic characteristics is developed for system analysis and simulation. The feasibility and effectiveness of the proposed control method are verified by simulations and actual tests in comparison with a conventional proportional and integral controller.

Development of a dual displacement controlled circuit for hydraulic shovel swing motion

“…In 1996, Sepehri studied the gear backlash and stick-slip friction in hydraulic swing motion [10]. Some other researchers presented several closed-loop control algorithms to improve the swing motion performance [11][12][13][14]. However, in practical applications, open-loop control algorithm is more applicable than closed-loop control algorithm due to several difficulties, e.g., time-varying swing inertia, unknown payload and parametric uncertainties.…”

A Closed-loop Control for Swing System and Energy Regeneration Analyses of the Multi-system of Grasp Steel Machine

“…This kind of robust control technique can realize high performance in swing velocity tracking, but it is not applicable for industry. Furthermore, it is difficult to obtain the displacement of cylinder by mounting the sensors [15]. The sliding mode observer and sliding mode control are designed to provide robust tracking performance, which reduce the serious self-exciting vibration of the electric swing motor due to the time-varying swing inertia caused by various working conditions.…”

Research on Optimal Control of Excavator Negative Control Swing System

“…Huang et al [8] proposed a pump-valve combined control strategy based on the IMC system, and improved the operational characteristics of the swing system. K. JIN et al [9] proposed a sliding model control strategy for swing motion to solve the problems caused by parameter uncertainty and nonlinearity, and research results show that the strategy can improve stability and progressive tracking performance of the swing system. Yu et al [10,11] proposed a new energy regenerative swing system with two accumulators, and the energy efficiency and stability have been effectively improved through combined control of motor displacement, main valve opening, and accumulator.…”