Active Damping Control of the Large-scale Flexible Hydraulic Manipulators with Independent Metering System

Authors

  • Ruiheng Jia The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
  • Junhui Zhang The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
  • Ruqi Ding School of Mechatronics and Vehicle Engineering, East China Jiaotong University, Nanchang, China
  • Fu Zhang The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
  • Jun Shen The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
  • Bing Xu The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

DOI:

https://doi.org/10.13052/ijfp1439-9776.2523

Keywords:

Hydraulic manipulator, Vibration reduction, Independent metering system, Dynamic pressure feedback

Abstract

The large-scale flexible hydraulic manipulator (FHM) is the key machinery for automation in construction. It generally works in a precise position and suffers from serious vibrations caused by external excitation. Thus, it requires both active damping control and position control, which are typically implemented by the single valve system (SVS) in the past. However, the SVS only has one signal input which cannot address the two controllers simultaneously. To solve the problem, a decoupling active damping controller utilizing the independent metering system (IMS) is presented. To reduce the influence between controls, the control degree of freedom is increased by breaking the mechanical coupling of the inlet and outlet. The relative gain array (RGA) method is then used to determine the best variable pair. Thus, the position and active damping controllers can be designed separately in two control loops to achieve control decoupling. To achieve active damping control, the dynamic pressure feedback (DPF) based on a high-pass filter is introduced to optimize system damping. The proposed method is verified on a concrete pump truck simulation model which is a typical large-scale flexible hydraulic manipulator. Simulation results show that the proposed method reduces interactions between different control loops and has a gentler vibration of the end-effector compared to the conventional SVS.

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Author Biographies

Ruiheng Jia, The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

Ruiheng Jia received the B.S. degree in mechanical engineering and automation from China University of Petroleum, Qingdao, China, in 2021. He is currently working toward the Ph.D. degree in the College of Mechanical Engineering, Zhejiang University, Hangzhou, China. His research interests include flexible hydraulic manipulator control and vibration suppression.

Junhui Zhang, The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

Junhui Zhang received the Ph.D. degree in mechatronics engineering from Zhejiang University, Hangzhou, China, in 2012. He is currently a Tenured Associate Professor with the Institute of Mechatronic Control Engineering, and the Deputy Director of the State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University. He has authored or coauthored more than 80 papers indexed by SCI and applied more than 30 National Invention Patents with granted. He is supported by the National Science Fund for Excellent Young Scholars. His research interests include high-speed hydraulic pumps/motors, heavy-duty hydraulic manipulators and hydraulic quadruped robots.

Ruqi Ding, School of Mechatronics and Vehicle Engineering, East China Jiaotong University, Nanchang, China

Ruqi Ding was born in Nanchang, China, in 1987. He received the B.S. degree in mechatronics engineering from Nanchang University, Nanchang, in 2009, and the Ph.D. degree in fluid power transmission and control from Zhejiang University, Hangzhou, China, in 2015. He is currently a Professor with the Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiao tong University, Nanchang. His research interests include electrohydraulic control systems and the motion control of hydraulic manipulators.

Fu Zhang, The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

Fu Zhang received the B.Eng. degree from Jilin University, Changchun, China, in 2018. He is currently working toward the Ph.D. degree in the College of Mechanical Engineering, Zhejiang University, Hangzhou, China. His research interests include hydraulic robot control and trajectory planning.

Jun Shen, The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

Jun Shen was born in Jiujiang, China, in 1995. He received the B.S. degree in mechanical engineering and automation from Wuhan University, Wuhan, China, and currently he is working toward the Ph.D. degree in the College of Mechanical Engineering, Zhejiang University, Hangzhou, China. His research interests include nonlinear controller design of hydraulic systems, cooperative hydraulic manipulators, advanced hydraulic actuators and relative hardware circuit design.

Bing Xu, The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China

Bing Xu received the Ph.D. degree in fluid power transmission and control from Zhejiang University, Hangzhou, China, in 2001. He is currently a Professor and a Doctoral Tutor with the Institute of Mechatronic Control Engineering, and the Director of the State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University. He has authored or coauthored more than 200 journal and conference papers and authorized 49 patents. Dr. Xu is a Chair Professor of the Yangtze River Scholars Program and a Science and Technology Innovation Leader of the Ten Thousand Talent Program.

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Published

2024-07-30

How to Cite

Jia, R. ., Zhang, J. ., Ding, R. ., Zhang, F. ., Shen, J. ., & Xu, B. . (2024). Active Damping Control of the Large-scale Flexible Hydraulic Manipulators with Independent Metering System. International Journal of Fluid Power, 25(02), 163–182. https://doi.org/10.13052/ijfp1439-9776.2523

Issue

2024: Vol 25 Iss 2

Section

GFPS 2022