FLOW CONTROL FOR COORDINATED MOTION AND HAPTIC FEEDBACK

Authors

  • Matthew E. Kontz Caterpillar Inc. – Hydraulics Research, Peoria, IL, USA
  • Wayne J. Book Georgia Institute of Technology – G.W. Woodruff School of Mechanical Engineering, Atlanta, GA, USA

Keywords:

haptics, excavators, backhoes, coordinated motion, flow control, pressure compensation

Abstract

The use of haptic interfaces to control mobile hydraulic machinery has several enhancing features over traditional human-machine interfaces comprised of joysticks/levers. This paper presents pressure and flow control schemes designed for coordinated haptic control. Typical of many small backhoes and excavators, the hydraulic system used on the test-bed is comprised of constant displacement pumps and proportional directional control valves. In this type of system, a main pressure regulator is needed to supply the other closed-centre valves with pressure and dumps the additional flow from the pump to tank. Using these valves for haptic applications requires accurate closed-loop control. The focus of this paper is on the flow control scheme. Performance of the proportional directional control valves are compared with and without pressure compensation. A velocity feedback loop is present in order to improve the accuracy of the control system. A small input dead-zone function is proposed in order to prevent a limit cycle around zero velocity caused by the valve dead-band. Coordinated motion with multiple cylinders is demonstrated.

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Author Biographies

Matthew E. Kontz, Caterpillar Inc. – Hydraulics Research, Peoria, IL, USA

Matthew E. Kontz He received a B.S.E. from Walla Walla College in 2001 and a M.S.M.E in 2002 from the Georgia Institute of Technology. By the end of 2007, he plans to begin a career at Caterpillar and receive both a M.S. in Electrical Engineering and Ph.D. in Mechanical Engineering from Georgia Tech. His graduate research has centered on haptic control of hydraulic machinery. Prior industrial experience includes internships at Honeywell and Caterpillar and independent consulting for Ross Controls. He was the primary author on the paper receiving the 2005 ASME IMECE FPST Division Best Paper Award.

Wayne J. Book, Georgia Institute of Technology – G.W. Woodruff School of Mechanical Engineering, Atlanta, GA, USA

Wayne J. Book After he received his Ph.D. degree in mechanical engineering from the Massachusetts Institute of Technology in 1974, Wayne Book joined the faculty of Mechanical Engineering at the Georgia Institute of Technology. He is currently the HUSCO/Ramirez Distinguished Professor in Fluid Power and Motion Control. His research includes the design, dynamics and control of high speed, lightweight motion systems, robotics, fluid power and haptics. He is a Fellow of both the ASME, IEEE and SME, and received the ASME Dedicated Service Award in 2003 and the ASME DSCD Leadership Award in 2004.

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Published

2007-11-01

How to Cite

Kontz, M. E., & Book, W. J. (2007). FLOW CONTROL FOR COORDINATED MOTION AND HAPTIC FEEDBACK. International Journal of Fluid Power, 8(3), 13–23. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/534

Issue

2007: Vol 08 Iss 3

Section

Original Article