Auto-Calibration Based Control for Independent Metering of Hydraulic Actuators

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ICRA 2011 Opdenbosch.pdf (910.74 KB)
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Opdenbosch, Patrick
Enes, Aaron R.
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http://hdl.handle.net/1853/38919
Abstract
This paper describes a novel auto-calibration state-trajectory-based control method and its application to electronic flow control for independent metering systems. In this paper, the independent metering architecture that is considered uses five Electro-Hydraulic Poppet Valves (EHPV’s). The proposed control method is applied to four of these valves, arranged in a Wheatstone bridge configuration, to regulate the flow of hydraulic oil coming into and out of an actuator. For simplicity, the fifth valve is operated via open-loop to control the supply pressure. Experimental data presented herein demonstrate that the control method learns the valve’s conductance characteristics (i.e. the inverse input-state dynamic map of the valve) while simultaneously controlling the motion of the hydraulic actuator.
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2011-05
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