Development and testing of load- and motion-decoupled actuator structures using nonlinear, model-based control algorithms
Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
Final Report Abstract
The objective of the transfer project is to develop robust control systems with independent metering (IM) for efficient use in mobile machinery, particularly with regard to their functional and economic suitability for industrial use. To date, the high complexity of the control of such valve systems has hindered broad industrial acceptance. Nevertheless, numerous studies show the high energy-saving potential of this system architecture and, in view of the increasing trend towards resource and energy efficiency, IM systems are once again moving centre stage. In addition to reducing throttling losses, systems with independent metering offer the option of freely defining the flow paths and thus regenerating volume flow and reducing the required pump flow rate. Internal and cross-consumer regeneration allows regenerative loads to be utilised and hydraulic pump power to be reduced. Proof of the industrial suitability of the approaches and concepts of structural and control solutions developed in the previous DFG projects is to be provided on a mobile excavator from Liebherr Hydraulikbagger GmbH. Detailed simulation models will be created for this machine, validated and used for the model-based control design. In addition, the machine is equipped with a comprehensive range of sensors that goes far beyond those of a series machine, allowing detailed comparative studies to be carried out. The transition from highly specialised directional control valves to standardised individual resistors using 2-way cartridge valve technology opens up a wide range of potential in the area of flexibility, both at component and system level. HydraForce Inc. supports this by providing, testing and further developing seat-tight individual valves with proportional characteristics, which can perform additional functions such as load holding in addition to volume flow control. The combination of pilot valves in the pilot circuit of built-in valves enables the integration of further additional functions, such as pressure limitation, flow control or combinations thereof. Detailed analyses are being carried out within the transfer project to optimise the structure and function of the valves to be used and their control.
Publications
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Investigation of the Temperature Influence on Electrohydraulic Valve Control and Presentation of a Novel Compensation Approach for Independent Metering Valve Systems. ASME/BATH 2023 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers.
Bachmann, Lukas; Liu, Jianbin & Weber, Jürgen
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Evaluation of Nonlinear MIMO Controllers for Independent Metering in Mobile Hydraulics. 2022 Global Fluid Power Society Ph.D. Symposium, 1-18. River Publishers.
Bachmann, Lukas; Sitte, Andre & Weber, Jurgen
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Design Of A Cartesian Hybrid Force-Position Controller For A Hydraulic Manipulator; 2024 IEEE Global Fluid Power Society PhD Symposium; Hudiksvall, SE; Springer Nature; Publication pending in Proceedings of the Global Fluid Power Society PhD Symposium 2024, 05.05.2025; ISBN: 978-3-031-84505-5
Bachmann, Lukas; Remde, Paul & Weber, Jürgen
