Using input shaping and pressure feedback to suppress oscillations in slewing motion of lightweight flexible hydraulic crane

Kjelland, Magnus B.; Hansen, Michael Rygaard

doi:10.1080/14399776.2015.1089071

Cited by 9 publications

(2 citation statements)

References 6 publications

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“…Excavator operators always operate the joystick quickly due to high labor intensity and difficulty in operation, which makes pressure and flow of the swing system incompatible with the work requirements and causes problems such as overflow and poor stability [14]. Studies have shown that human-machine interaction has a significant impact on the performance of the hydraulic system [15][16][17][18][19][20], and appropriate operating signals can effectively improve system dynamic and energy efficiency. Therefore, considering the upgrade cost of hydraulic systems, this paper proposes a technical scheme which adds two PRVs (pressure reducing valves) to the main valve pilot control circuit, and the PRVs are an independent metering for the swing main valve, so the main valve pilot pressure and opening can be arbitrarily adjusted to optimize the performance of the negative control swing system.…”

Section: Introductionmentioning

confidence: 99%

Research on Optimal Control of Excavator Negative Control Swing System

Zhang

Yuan

et al. 2020

Processes

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In order to improve the energy efficiency and dynamic of negative control swing systems of excavators, this paper proposes a technical scheme of adding two PRVs (pressure reducing valves) to main valve pilot control circuit, which can adjust main value opening arbitrarily according to the working condition. A pump-value compound control strategy was formulated to regulate the system power flow. During swing motor acceleration, main pump and the two PRVs are controlled to match system supply flow with motor demand flow, thereby reducing motor overflow and shortening system response time. During swing motor braking, the channel from motor to tank is opened to release hydraulic brake pressure by controlling PRVs before swing speed reduces to zero, which prevents the motor from reversing and oscillating. A simulation model of 37-ton excavator was established, and the control strategy was simulated. The original and optimized performance of the swing system were compared and analyzed, and results show that the application of new scheme with the compound control strategy can reduce overflow and increase braking stability of the swing system. In addition, system response and speed control performance are also improved when excavator performs a single-swing action.

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Section: Introductionmentioning

confidence: 99%

Research on Optimal Control of Excavator Negative Control Swing System

Zhang

Yuan

et al. 2020

Processes

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“…Recently, much research has been done to solve the abovementioned problems. The most common and direct control is input shaping, by which suitable trajectories are planned for the trolley by thoroughly analyzing the coupling between the trolley motion and the payload swing [4][5][6][7][8]. A modified composite nonlinear feedback strategy has been proposed to improve the transient performance and eliminate the steady-state errors in path-following control considering the tire force saturations [9].…”

Section: Introductionmentioning

confidence: 99%

An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

Bao

2018

Applied Sciences

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The payload swing of an overhead crane needs to be controlled properly to improve efficiency and avoid accidents. However, the swing angle is usually very difficult to control to zero degrees or for it to even remain within an acceptable range because the overhead crane is a complex nonlinear underactuated system, especially when the actual working environment is accompanied by strong disturbances and great uncertainty. To resolve this, a real-time anti-swing closed-loop control strategy is proposed that considers external disturbances. The swing angle is measured in time and it functions with the load displacement as feedback inputs of the closed-loop system. The nonlinear model of the crane is simplified by a linear system with virtual disturbances, which are estimated by the equivalent input disturbance (EID) method. Both simulation and experimental results for a 2-D overhead crane system are investigated to illustrate the validity of the proposed method.

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Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

Cheng

2017

Front. Mech. Eng.

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Using input shaping and pressure feedback to suppress oscillations in slewing motion of lightweight flexible hydraulic crane

Cited by 9 publications

References 6 publications

Research on Optimal Control of Excavator Negative Control Swing System

Research on Optimal Control of Excavator Negative Control Swing System

An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

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