Self-tuning pressure-feedback control by pole placement for vibration reduction of excavator with independent metering fluid power system. (August 2017)

• Record Type: Journal Article
• Authors: Ding, Ruqi; Xu, Bing; Zhang, Junhui; Cheng, Min
• Is Part Of: Mechanical systems and signal processing. Volume 92(2017)
• Page Start: 86
• Page End: 106
• Publication Date: 2017-08
• Subjects: Vibrations -- Independent metering system (IMS) -- Pressure feedback (PF) -- Damping control -- Pole placement; Structural dynamics -- Periodicals; Vibration -- Periodicals; Constructions -- Dynamique -- Périodiques; Vibration -- Périodiques; Structural dynamics; Vibration; Periodicals; 621
• DOI: 10.1016/j.ymssp.2017.01.012
• Languages: English
• ISSNs: 0888-3270

Abstract

Highlights: The paper incorporates active damping control into pressure feedback control. Pole-zero locations illustrate how control parameters affect stability and response. Controller parameters are tuned in terms of guaranteed dominant pole placement. The aim is to damp vibrations considering high stability and fast response. The proposed controller has been successfully applied to a mini-excavator. Abstract: Independent metering control systems are promising fluid power technologies compared with traditional valve controlled systems. By breaking the mechanical coupling between the inlet and outlet, the meter-out valve can open as large as possible to reduce energy consumptions. However, the lack of damping in outlet causes stronger vibrations. To address the problem, the paper designs a hybrid control method combining dynamic pressure-feedback and active damping control. The innovation resides in the optimization of damping by introducing pressure feedback to make trade-offs between high stability and fast response. To achieve this goal, the dynamic response pertaining to the control parameters consisting of feedback gain and cut-off frequency, are analyzed via pole-zero locations. Accordingly, these parameters are tuned online in terms of guaranteed dominant pole placement such that the optimal damping can be accurately captured under a considerable variation of operating conditions. The experiment is deployed in a mini-excavator. The results pertaining to different control parameters confirm the theoretical expectations via pole-zero locations. By using proposed self-tuning controller, the vibrations are almost eliminated after only one overshoot for different operation conditions. The overshoots are also reduced with less decrease of the response time. In addition, the energy-saving capability of independent metering system is still not affected by the improvement of controllability.