Auto-Calibration Based Control for Independent Metering of Hydraulic Actuators
This paper describes a novel auto-calibration state-trajectory-based control method and its application to electronic flow control for independent metering systems. In this paper, the independent metering architecture that is considered uses five Electro-Hydraulic Poppet Valves (EHPV’s). The proposed control method is applied to four of these valves, arranged in a Wheatstone bridge configuration, to regulate the flow of hydraulic oil coming into and out of an actuator. For simplicity, the fifth valve is operated via open-loop to control the supply pressure. Experimental data presented herein demonstrate that the control method learns the valve’s conductance characteristics (i.e. the inverse input-state dynamic map of the valve) while simultaneously controlling the motion of the hydraulic actuator.
Patrick Opdenbosch Nader Sadegh Wayne Book Aaron Enes
Caterpillar Inc. Mossville,IL 61552 USA School of Mechanical Engineering at the Georgia Institute of Technology,Atlanta GA,30332,USA MIT Lincoln Laboratory,Lexington MA,02420,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
153-158
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）