Hydraulic manipulators on mobile machines, whose hydraulic actuators are usually controlled by mobile hydraulic valves, are being considered for robotic closed-loop control. A feed-forward-based strategy combining position and velocity feedback has been found to be an effective method for the motion control of pressure-compensated mobile hydraulic valves that have a significant dead zone. The feed-forward can be manually identified. However, manually identifying the feed-forward models for each valve-actuator pair is often very time-consuming and error-prone. For this practical reason, we propose an automated feed-forward learning method based on velocity and position feedback. We present experimental results for a heavy-duty hydraulic manipulator on a forest forwarder to demonstrate the effectiveness of the proposed method. These results motivate the automated identification of velocity feed-forward models for motion control of heavy-duty hydraulic manipulators controlled by pressure-compensated mobile hydraulic valves that have a significant input dead zone.
- Fluid Power Systems and Technology Division
Automated Feed-Forward Learning for Pressure-Compensated Mobile Hydraulic Valves With Significant Dead-Zone
- Views Icon Views
- Share Icon Share
- Search Site
Nurmi, J, & Mattila, J. "Automated Feed-Forward Learning for Pressure-Compensated Mobile Hydraulic Valves With Significant Dead-Zone." Proceedings of the ASME/BATH 2017 Symposium on Fluid Power and Motion Control. ASME/BATH 2017 Symposium on Fluid Power and Motion Control. Sarasota, Forida, USA. October 16–19, 2017. V001T01A027. ASME. https://doi.org/10.1115/FPMC2017-4258
Download citation file: