Energy saving control of a hydraulic manipulator using five cartridge valves and one accumulator

Lu Lu, Bin Yao, Zhibin Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

In this paper, a novel energy-saving control strategy is proposed for the accurate motion tracking of a hydraulic manipulator. To achieve independent pressure regulation for each chamber of the cylinder as well as energy recovery during the back-and-forth movement of the cylinder, a hardware configuration with five low-cost programmable cartridge valves and an accumulator is developed to control the motion of the cylinder. Based on the hardware configuration, a novel control algorithm consisting of three levels is proposed. In level I, an adaptive robust controller is synthesized to generate the desired flow rates for the two chambers of the cylinders Q1m and Q2m so that the joint angle of the manipulator tracks the desired trajectory as accurately as possible, and the offside pressure of the cylinder also follows the desired pressure profile to be generated in level III accurately. In level II, an energy-optimum flow distribution law is designed and implemented to generate the desired flow rates passing through the five programmable valves. In level III, the desired offside pressure of the cylinder is generated so that the total energy consumption during the whole movement cycle is minimized. Experimental study validates that the proposed strategy can indeed achieve both accurate motion tracking and minimum energy consumption simultaneously. Compared to the previous 4-valve scheme and 5-valve flow regeneration scheme without the use of accumulator in Liu and Yao (2008), the proposed strategy has much less total energy consumption and equally good tracking performance.

Original languageEnglish (US)
Title of host publication6th IFAC Symposium on Mechatronic Systems, MECH 2013
PublisherIFAC Secretariat
Pages84-90
Number of pages7
Edition5
ISBN (Print)9783902823311
DOIs
StatePublished - 2013
Externally publishedYes
Event6th IFAC Symposium on Mechatronic Systems, MECH 2013 - Hangzhou, China
Duration: Apr 10 2013Apr 12 2013

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number5
Volume46
ISSN (Print)1474-6670

Other

Other6th IFAC Symposium on Mechatronic Systems, MECH 2013
CountryChina
CityHangzhou
Period4/10/134/12/13

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Keywords

  • Adaptive robust control
  • Electro-hydraulic systems
  • Energy saving
  • Motion control
  • Optimal control

Fingerprint Dive into the research topics of 'Energy saving control of a hydraulic manipulator using five cartridge valves and one accumulator'. Together they form a unique fingerprint.

Cite this