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Auto-calibration based control for independent metering of hydraulic actuators

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4 Author(s)
Opdenbosch, P. ; Caterpillar Inc., Mossville, IL, USA ; Sadegh, N. ; Book, W. ; Enes, A.

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.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011