A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators

This paper proposes a sliding-mode set-point position controller for hydraulic excavators. The controller employs a simple switching surface that exponentially drives the actuator position to the desired position with a specified time constant. The discrete-time algorithm of the controller is constr...

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Autores principales:	Yuki Yamamoto, Jinjun Qiu, Yoshiki Munemasa, Takayuki Doi, Takao Nanjo, Koji Yamashita, Ryo Kikuuwe
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Deadtime compensation hydraulic actuator hydraulic excavator sliding-mode control Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/a3952ea142db4ba6ac27d89c4e468d1f
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id	oai:doaj.org-article:a3952ea142db4ba6ac27d89c4e468d1f
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spelling	oai:doaj.org-article:a3952ea142db4ba6ac27d89c4e468d1f2021-11-24T00:03:14ZA Sliding-Mode Set-Point Position Controller for Hydraulic Excavators2169-353610.1109/ACCESS.2021.3128215https://doaj.org/article/a3952ea142db4ba6ac27d89c4e468d1f2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9615048/https://doaj.org/toc/2169-3536This paper proposes a sliding-mode set-point position controller for hydraulic excavators. The controller employs a simple switching surface that exponentially drives the actuator position to the desired position with a specified time constant. The discrete-time algorithm of the controller is constructed through a double-implicit implementation scheme, which is for implementing a simple sliding-mode controller to nonsmooth actuators, including hydraulic actuators. We employ a nonsmooth quasistatic model of the hydraulic actuator, which analytically accounts for the pressure saturation caused by the relief valves and check valves and the square-root law of the pressure-flowrate relation. This paper elaborates the analytical form of the model to be combined with the double-implicit implementation. A state predictor based on the actuator model extends the controller to compensate for the deadtime in the hydraulic system. The proposed controller is validated with some simulations and also through experiments employing the swing axis of a 13-ton class excavator.Yuki YamamotoJinjun QiuYoshiki MunemasaTakayuki DoiTakao NanjoKoji YamashitaRyo KikuuweIEEEarticleDeadtime compensationhydraulic actuatorhydraulic excavatorsliding-mode controlElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 153735-153749 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Deadtime compensation hydraulic actuator hydraulic excavator sliding-mode control Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Deadtime compensation hydraulic actuator hydraulic excavator sliding-mode control Electrical engineering. Electronics. Nuclear engineering TK1-9971 Yuki Yamamoto Jinjun Qiu Yoshiki Munemasa Takayuki Doi Takao Nanjo Koji Yamashita Ryo Kikuuwe A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators
description	This paper proposes a sliding-mode set-point position controller for hydraulic excavators. The controller employs a simple switching surface that exponentially drives the actuator position to the desired position with a specified time constant. The discrete-time algorithm of the controller is constructed through a double-implicit implementation scheme, which is for implementing a simple sliding-mode controller to nonsmooth actuators, including hydraulic actuators. We employ a nonsmooth quasistatic model of the hydraulic actuator, which analytically accounts for the pressure saturation caused by the relief valves and check valves and the square-root law of the pressure-flowrate relation. This paper elaborates the analytical form of the model to be combined with the double-implicit implementation. A state predictor based on the actuator model extends the controller to compensate for the deadtime in the hydraulic system. The proposed controller is validated with some simulations and also through experiments employing the swing axis of a 13-ton class excavator.
format	article
author	Yuki Yamamoto Jinjun Qiu Yoshiki Munemasa Takayuki Doi Takao Nanjo Koji Yamashita Ryo Kikuuwe
author_facet	Yuki Yamamoto Jinjun Qiu Yoshiki Munemasa Takayuki Doi Takao Nanjo Koji Yamashita Ryo Kikuuwe
author_sort	Yuki Yamamoto
title	A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators
title_short	A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators
title_full	A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators
title_fullStr	A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators
title_full_unstemmed	A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators
title_sort	sliding-mode set-point position controller for hydraulic excavators
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/a3952ea142db4ba6ac27d89c4e468d1f
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A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators

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