Title :
Control of a single-link mobile hydraulic actuator with a pressure compensator
Author :
Aranovskiy, S. ; Vazquez, C.
Author_Institution :
Dept. of Control Syst. & Inf., ITMO Univ., St. Petersburg, Russia
Abstract :
A problem of position control of a single-link hydraulic drive, including model uncertainties and disturbances, is studied. Main properties of mobile hydraulic systems are taking into account, namely a nonlinearity of a valve and a pressure compensator. A discontinuous control law coupled with a static nonlinearity inversion and a feed-forward term of velocity is proposed. Besides, a novel model with pressure compensator is presented and the closed-loop stability analysis is provided. Results of experiments carried out on a forestry crane confirm the efficacy of the proposed approach.
Keywords :
closed loop systems; control nonlinearities; cranes; feedforward; hydraulic actuators; hydraulic drives; position control; pressure control; sampled data systems; stability; valves; closed-loop stability analysis; discontinuous control law; feed-forward term; forestry crane; mobile hydraulic systems; model uncertainties; position control; pressure compensator; single-link mobile hydraulic actuator control; static nonlinearity inversion; valve nonlinearity; Cranes; Equations; Estimation; Mathematical model; Mobile communication; Valves;
Conference_Titel :
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location :
Juan Les Antibes
DOI :
10.1109/CCA.2014.6981354
