Identification and control design for path tracking of hydraulic loader crane

Rudolfsen, Morten Hallquist; Aune, Teodor Nilsen; Auklend, Oddgeir; Aarland, Leif Tore; Ruderman, Michael

doi:10.1109/aim.2017.8014077

Cited by 7 publications

(10 citation statements)

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“…Further we note that the input dead-band can be estimated either by an off-or on-line identification approach, see e.g. [11], [12], and that by various quasi-static openloop control experiments. The overall identified dead-band of hydraulic system, used in this work, is W = 0.6.…”

Section: A Approximated System Dynamicsmentioning

confidence: 99%

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Use of second-order sliding mode observer for low-accuracy sensing in hydraulic machines

Ruderman

2018

2018 15th International Workshop on Variable Structure Systems (VSS)

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Low-accuracy sensing is very common for the large hydraulic machines and does not allow for directly measuring the relative velocity which can be, otherwise, required for the control and monitoring purposes. This paper provides a case study of designing the second-order sliding mode observer based on the super-twisting robust exact differentiator. The nominal part of the system dynamics is derived from the simple available system measurements and incorporated into the observer structure. Parasitic by-effects, arising from the sensor sampling, quantization, and non-modeled distortions due to mechanical sensor interface, are shown as the main causes of hampering the final (steady-state) convergence of the observer states. Two cases -a continuous chirp excitation and a sequence of the short square pulses -are demonstrated for the open-loop motion experiments performed on a hydraulic crane, for which an accurate estimation of the motion system states is obtained.

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Section: A Approximated System Dynamicsmentioning

confidence: 99%

“…For more details on the crane system see e.g. [11]. The external communication interface to the integrated circuits cabinet is based on the Ethernet connection with UDP (user datagram protocol).…”

Section: Hydraulic Loader Cranementioning

confidence: 99%

Use of second-order sliding mode observer for low-accuracy sensing in hydraulic machines

Ruderman

2018

2018 15th International Workshop on Variable Structure Systems (VSS)

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“…On the contrary, the 1st rotary joint, which turns the column of the crane, is equipped by a rack-and-pinion type actuator which differs from the directly cylinder-driven 2nd and 3rd one. For more details on the hydraulic crane system the reader is refereed to [1], [2].…”

Section: Hydraulic Loader Cranementioning

confidence: 99%

“…e.g. with [2]. For the sake of clarity, the impact of the input dead-zone is demonstrated below by means of the time response of cylinder stoke to the applied low-rate input ramp.…”

Section: Control Design and Evaluationmentioning

confidence: 99%

“…Large-scale hydraulic machines are in use wherever heavy payloads and, correspondingly, considerable forces are required in combination with often hazardous, harsh, correspondingly outdoor, environments. Examples for such machines, demanding appropriate control of the kinematic members, are the cranes [1], [2] or manipulators [3], [4], excavators [5], [6], forestry machines [7], [8], and others. A recent survey on the control of hydraulic manipulators can be found in [9].…”

Section: Introductionmentioning

confidence: 99%

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Minimal-model for robust control design of large-scale hydraulic machines

Ruderman

2018

2018 IEEE 15th International Workshop on Advanced Motion Control (AMC)

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Hydraulic machines are in use where the large forces, at relatively low velocities, are required by varying loads and often hazardous and hard-to-reach environments, like e.g. offshore, mining, forestry, cargo logistics, and others industries. Cranes and excavators equipped with multiple hydraulic cylinders are typical examples for that. For design of the robust feedback controls of hydraulic cylinders, already installed into large-scale machines, there is a general lack of reliable dynamic models. Also the suitable and feasible identification techniques, especially in frequency domain, yield limited. This paper proposes a minimal-modeling approach for determining the most relevant open-loop characteristics of hydraulic cylinders installed on a bulk loader crane. The resulted model allows for robust control design without knowledge of the overall complex system behavior. The total system gain, non-negligible input dead-zone, and aggregated phase lag are identified from the simple openloop experiments. An aggregated phase lag is captured for the assumed bandwidth of the system, and that without knowledge of the higher-order residual system dynamics. Based thereupon, the robust feedback position regulator is designed and extended by the velocity feed-forwarding. The proposed modeling approach, together with the designed control system, are evaluated on the third axis of a hydraulic loader crane.

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