计算机科学
控制系统
控制理论(社会学)
控制(管理)
控制工程
工程类
人工智能
电气工程
作者
Shaqi Luo,Min Cheng,Bing Xu,Ruqi Ding,Zenan Han
出处
期刊:IEEE Access
[Institute of Electrical and Electronics Engineers]
日期:2019-01-01
被引量:2
标识
DOI:10.1109/access.2019.2929361
摘要
With the electronization process of mobile hydraulics moving forward, the basic demand of power limitation control is increasingly fulfilled by electronic pump controllers to replace hydro-mechanical regulators. However, the nonlinear power controller introduces additional dynamics and potential oscillations into the electrohydraulic system. In this paper, the dynamic performance of the electrohydraulic system is analyzed using the linearized mathematical model and root locus tool, considering the factors of pump dynamic, actuator dimension, power setting point, and so on. A pump-based virtual leakage compensator is designed to reduce oscillations due to low damping excited by the power controller. The stability and parameter selection are then discussed to obtain optimal dynamic behavior. Using the traditional power controller as a comparison, the boom lifting motion test of a 2-ton excavator was carried out to validate the proposed compensator. The test result indicates that the proposed controller with optimized parameters has the ability to suppress pressure fluctuations and velocity oscillations.
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