Synthesis of a MIMO QFT controller for hydraulic hybrid swing system of excavators

Authors

  • Yan Cai School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
  • Jinchun Song School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China;
  • Nariman Sepehri epartment of Mechanical Engineering, University of Manitoba, Winnipeg, Canada

DOI:

https://doi.org/10.1080/14399776.2017.1366244

Keywords:

MIMO QFT, secondary control, hydraulic hybrid, swing, uncertainty, excavator

Abstract

ABSTRACT
In swing system of excavators, energy recuperation and hybrid actuation is desirable to improve energy efficiency because of its characteristic large inertial load and cyclic operation. Numerous studies have focused on optimisation of hybrid structures and power management strategies, whereas only a little attention has been paid to the control performance of hybrid swing drives. This paper investigates the control problem of the secondary controlled hybrid swing drive and employs multi-input multi-output quantitative feedback theory (MIMO QFT) for controller synthesis. Considering parametric uncertainties in load variation, viscous friction and bulk modulus, a two-input two-output QFT control scheme is constructed according to specifications  given by robust margin, sensitivity reduction and tracking performance. Through simulation evaluation, the MIMO QFT controller shows excellent tracking performance over the defined range of uncertain parameters and much better robustness as compared to a well-tuned PI controller. The synthesis process is visualised, which is practical and promising for its further usein industrial settings.

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Author Biographies

Yan Cai, School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China

Yan Cai received his BS degree in Mechanical
Engineering from Northeastern University,
China, in 2012. He is a direct PhD student
with the School of Mechanical Engineering
and Automation at Northeastern University,
and is currently a PhD visiting scholar at
University of Manitoba, Canada. His
research interests include bilateral control,
energy efficient fluid power system, robust control and automation
of electro-hydrostatic actuators.

Jinchun Song, School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China;

Jinchun Song received his BS, MS and PhD
degree in Mechanical Engineering from
Northeastern University, China, in 1982,
1985 and 2004, respectively. He is a professor
with the School of Mechanical Engineering
and Automation at Northeastern University,
China. His research interests include
mechanical-electrical-hydraulic system integration,
servo and proportional control of fluid power system

Nariman Sepehri, epartment of Mechanical Engineering, University of Manitoba, Winnipeg, Canada

Nariman Sepehri received his BS degree in
Mechanical Engineering from Sharif
University of Technology, Iran, in 1984, MSc
and PhD degrees in Mechanical Engineering
from the University of British Columbia,
Canada, in 1986 and 1990, respectively. He
is a professor with the Department of
Mechanical and Manufacturing Engineering
at University of Manitoba, Canada. He is a fellow of CAE,
ASME and CSME. His research interests include fluid power
systems and control, fault detection and isolation, tele-robots,
modelling and simulation.

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Published

2018-12-20

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Section

Original Article

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