摇摆
惯性
测光模式
钻探
水力机械
工程类
定向钻
运动控制
海洋工程
钻机
控制系统
扭矩
控制理论(社会学)
控制工程
汽车工程
地质学
机械工程
控制(管理)
计算机科学
机器人
电气工程
物理
经典力学
人工智能
热力学
作者
Yong Zhou,Ruqi Ding,Min Cheng,L. Liao,Zheng Chen,Bin Yao
标识
DOI:10.1109/tie.2025.3549091
摘要
Electro-hydraulic systems are widely used in heavy machines to drive large inertia loads because of their high power-to-weight ratio and substantial force/torque outputs. Achieving both control accuracy and energy efficiency is critical for such systems to ensure construction quality and minimize costs. However, it is challenging to improve motion control accuracy of large inertia systems because of the extremely low system damping, nonlinearities, and uncertainties. Additionally, the high pressures and large flow rates required to actuate these loads further complicate the optimization of energy efficiency. In this article, the hydraulic swing system of a 105-ton rotary drilling rig is used as a case study to explore control strategies that address these issues. An independent metering system (IMS) is employed to enhance energy efficiency. Meanwhile, an adaptive robust controller (ARC) with working mode selection is developed to improve control accuracy. A damping optimization principle is proposed to adjust the system damping through feedback gains, enhancing both motion accuracy and system stability. Experimental results from two cases demonstrate that the proposed strategy achieves a position accuracy of 0.1${}^{\circ}$ and over 10% energy savings, meeting both accuracy and efficiency objectives.
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