Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder

Jensen, Konrad Johan; Ebbesen, Morten Kjeld; Hansen, Michael Rygaard

doi:10.3390/app10217847

Cited by 6 publications

(3 citation statements)

References 24 publications

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“…A model of the crane containing the hydraulic system, main boom, and knuckle boom was previously created using Simscape™ components; see [23][24][25]. For this paper, the telescopic actuation system is modeled and added to the Simscape model.…”

Section: Modeling Of Telescopic Actuation Systemmentioning

confidence: 99%

Online Deflection Compensation of a Flexible Hydraulic Loader Crane Using Neural Networks and Pressure Feedback

2022

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The deflection compensation of a hydraulically actuated loader crane is presented. Measurement data from the laboratory are used to design a neural network deflection estimator. Kinematic expressions are derived and used with the deflection estimator in a feedforward topology to compensate for the static deflection. A dynamic deflection compensator is implemented, using pressure feedback and an adaptive bandpass filter. Simulations are conducted to verify the performance of the control system. Experimental results showcase the effectiveness of both the static and dynamic deflection compensator while running closed-loop motion control, with a 90% decrease in static deflection.

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Section: Modeling Of Telescopic Actuation Systemmentioning

confidence: 99%

Online Deflection Compensation of a Flexible Hydraulic Loader Crane Using Neural Networks and Pressure Feedback

2022

Self Cite

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“…The main goal of paper [8] is the design, simulation, and experimental verification of an adaptive feed-forward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane.…”

Section: Modelling and Control Of Mechatronic And Robotic Systemsmentioning

confidence: 99%

Modelling and Control of Mechatronic and Robotic Systems

2021

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“…The hydraulic loader crane uses pressure compensated valves, which give a load independent velocity control for each actuator. For closed loop control systems, the load independent velocity control can be utilized in a control system using feedforward Bak and Hansen (2013); Jensen et al (2020a). In this case, both a position reference and a velocity reference are generated in the control system.…”

Section: Introductionmentioning

confidence: 99%

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

Jensen¹,

Ebbesen²,

Hansen³

2021

MIC

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In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles during motion using the proposed anti-swing controller in addition to pressure feedback. Experiments are carried out to verify the performance of the anti-swing controller. Results show that the implemented pressure feedback is crucial for reaching stability, and with it the control system yields good suppression of the swing angles in practice.

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Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder

Cited by 6 publications

References 24 publications

Online Deflection Compensation of a Flexible Hydraulic Loader Crane Using Neural Networks and Pressure Feedback

Online Deflection Compensation of a Flexible Hydraulic Loader Crane Using Neural Networks and Pressure Feedback

Modelling and Control of Mechatronic and Robotic Systems

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

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