A General Auto-Tuning Method for Active Vibration Damping of Mobile Hydraulic Machines

Abstract

This paper presents an innovative approach towards the active vibration damping of mobile hydraulic machines. The authors’ research group recently introduced a novel control strategy based on pressure feedback and on an optimization procedure. The success of the optimization lies on the efficient quantification of the vibration extend which is the objective to be minimized. This paper addresses the definition of the objective function introducing a new method which does not require a priori knowledge of the working cycle. This approach enables the control strategy to be potentially applied to any kind of working scenario and does not require the intervention of a control designer. The results presented in this paper show that the novel method is able to effectively attenuate the undesired oscillations while not affecting the actuator velocity.

Numerical and Experimental Study of a Novel Concept for Hydraulically Controlled Negative Loads

“…However, no unique solution has emerged that is useful across applications and working conditions. A different approach is to actively compensate for the oscillations by applying closed-loop control strategies that involve the input signal to the DCV and some kind of pressure feedback (Hansen and Andersen (2010), Cristofori et al (2012) and Ritelli and Vacca (2014)). The most important limitation in these strategies is the bandwidth limitation in typical DCVs.…”

Payload oscillation reduction in load-handling machines: A frequency-based approach

“…This was done utilizing a detailed simulation model of the machine, as it will be described at the next section “Results.” The optimization procedure uses the extremum seeking algorithm, and it was already used by the authors’ research team to populate gain schedulers in different controller architectures. In particular, it was used in Cristofori et al 46 to obtain the controller parameters out from a simulation model of the machine to reduce structural oscillations, and in Ritelli and Vacca 41 to optimize the controller parameters from actual experiments. The idea behind this optimization procedure is explained in Figure 7.…”

“…This was shown in simulation 15 and later directly on experiments. 41 This work proposed a controller that is able to reduce structure oscillations only and does not provide any guarantee to reduce payload oscillations. This method uses pressure feedback, as it was also proven the capability of using pressure sensors to estimate the structural vibrations.…”