A velocity feed-forward-based strategy is an effective means for controlling a heavy-duty hydraulic manipulator; in particular, a typical valve-controlled hydraulic manipulator, to compensate for valve dead-zone and other hydraulic valve nonlinearities. Based on our previous work on the adaptive learning of valve velocity feed-forwards, manually labelling and identifying the dead-zones and the other nonlinearities in the velocity feed-forward curves of pressure-compensated hydraulic valves can be avoided. Nevertheless, it may take two to three minutes or more per actuator to identify a pressure-compensated valve’s highly nonlinear velocity feed-forward in real-time with an adaptive approach, which should be reduced for realistic applications. In this paper, inspired by brain signal analysis technologies, we propose a new method based on deep convolutional neural networks comparing with the previous method to significantly reduce this online learning process with the strong nonlinearities of pressure-compensated hydraulic valves. We present simulation results to demonstrate the effectiveness of the deep learning-based learning method compared to the previous results with an adaptive control-based learning.
- Fluid Power Systems and Technology Division
A Neural Network Strategy for Learning of Nonlinearities Toward Feed-Forward Control of Pressure-Compensated Hydraulic Valves With a Significant Dead Zone
Nurmi, J, M. Aref, M, & Mattila, J. "A Neural Network Strategy for Learning of Nonlinearities Toward Feed-Forward Control of Pressure-Compensated Hydraulic Valves With a Significant Dead Zone." Proceedings of the BATH/ASME 2018 Symposium on Fluid Power and Motion Control. BATH/ASME 2018 Symposium on Fluid Power and Motion Control. Bath, UK. September 12–14, 2018. V001T01A023. ASME. https://doi.org/10.1115/FPMC2018-8847
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