Control of Hydraulic Manipulator with Consideration of Power Limitations On-Board Energy Source

Yu.V. Ilyukhin

doi:10.4028/www.scientific.net/AMM.865.532

Paper Titles

Design and Simulation of a New Hammer Source Control System
p.502

Research and Design of Space Manipulator System Based on Telescopic Arm
p.508

Conceptual Design of an Auxiliary Autonomous Vehicle for Disabilities People
p.518

Parametric Identification of Control Objects to Provide the Improved Accuracy on Start or End Point of Timing Response
p.525

Control of Hydraulic Manipulator with Consideration of Power Limitations On-Board Energy Source
p.532

Real-Time Ethernet Based Development of Stage Distributed Control Module System for Stage
p.539

Multiple Image Based Human Joint Angle Computation
p.547

Some Applications of the Theory of Functions Approximation to the Design of Complex Systems
p.554

Fuzzy Comprehensive Evaluation for Two Kinds of Suspension Controllers
p.561

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 865Control of Hydraulic Manipulator with...

Control of Hydraulic Manipulator with Consideration of Power Limitations On-Board Energy Source

Abstract:

In the paper we present results of theoretical and experimental research of properties of manipulators with electro hydraulic servo drives with energy sources of limited power. The danger of overloading the power sources and associated functional failures of the drive system are discussed. In order to solve the problem we propose a new structure of the control system and algorithms. This allows to effectively distribute available power between hydraulic drives. These control algorithms are based on a system with variable structure with actual fluid flow feedback. This paper presents analysis of the amplitude of the first harmonic and of oscillation frequency of the total flow in the steady state. This allows to give recommendations how to improve dynamic properties of a hydraulic manipulator. The proposed control laws solve the problem of coordination of motion of links of the manipulator for automatic distribution of power resources. Besides this, it creates favorable conditions for functioning of biotechnical system "human operator - hydraulic manipulator" with limited energy source.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 865)

Pages:

532-538

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.865.532

Citation:

Cite this paper

Online since:

June 2017

Authors:

Yu.V. Ilyukhin*

Keywords:

Control, Drive, Energy Distribution, Energy Source, Hydraulic Manipulator, Limited Power

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] V. I. Utkin, Sliding Modes in Control and Optimization, Springer-Verlag, Berlin, (1992).

Google Scholar

[2] Yu. V. Ilyukhin, Features of the established modes automatic power distribution systems servo-hydraulic actuators, Automatic control, Moscow (1977) 78-82.

Google Scholar

[3] Yu. V. Ilyukhin, Computer control of mechatronic systems, MSTU STANKIN, Moscow, (2014).

Google Scholar

[4] D. Zimmer, Equation-Based Modeling of Variable-Structure Systems, Swiss Federal Institute of Technology, (2010).

Google Scholar

[5] D. Zhang, Q. He, P. Hao, H. T. Zhang, Modeling and Controlling for Hydraulic Excavators arm, 22nd International Symposium on Automation and Robotics in Construction ISARC, 2005-Septemper 11-14, Ferrara (Italy).

DOI: 10.22260/isarc2005/0036

Google Scholar

[6] T. X. Indrawanto, Sliding Mode Control of a Single Rigid Hydraulically Actuated Manipulator, Int. J. Mech. Mechatron. Eng. IJMME-IJENS 11(5) (2014).

Google Scholar