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High-Performance Digital Hydraulic Tracking Control of a Mobile Boom Mockup
Kalevi Huhtala, Tampere University of Technology, Finland
The automation of hydraulic mobile machinery, such as excavators, requires high
performance control solutions. In hydraulics, this means fast and accurate force,
velocity and position control of hydraulic cylinder. Especially the force control is known
to be difficult with traditional servo valves. Fast digital hydraulic valves together with
modern control solutions can overcome this problem. This paper uses a new force
control solution, which is based on the fast digital hydraulic valves and model based
control principle. The control solution is applied in a heavy axis mimicking dynamics of
mobile machine booms. Experimental results show good force, velocity and position
tracking performance with varying load masses. The slow velocity performance is also
much improved when compared to the earlier results.