挖掘机
控制理论(社会学)
反推
工程类
水力机械
控制器(灌溉)
液压缸
繁荣
阻抗控制
职位(财务)
控制阀
控制工程
电阻抗
自适应控制
计算机科学
控制(管理)
机械工程
农学
电气工程
财务
人工智能
环境工程
经济
生物
作者
Tao Qin,Yunhua Li,Long Quan,Liman Yang
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2022-08-01
卷期号:27 (4): 1928-1936
被引量:14
标识
DOI:10.1109/tmech.2022.3173991
摘要
In this article, taking the hydraulic system of mining hydraulic excavator boom and stick as the plant, an adaptive robust impedance controller based on an extended state observer and backstepping method is designed. The energy-saving operation and position tracking performance are considered in system modeling and control law design. The system effects on electro-hydraulic proportional valves with open centers and flow regeneration valves (FRVs) are considered. When hydraulic cylinders are extended, the proposed control strategy adopts a pump-controlled pressure closed-loop to shorten the dead time. When hydraulic cylinders are retracted, less oil is output to meet the idle demand. The valve-controlled position subsystem with impedance mode ensures smoother digging processes. Comparative simulations show that the proposed control strategy has better position tracking and smaller velocity fluctuations. Compared with the system without FRVs, the proposed system can reduce energy consumption by 27.32%.
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