Control Parameters of Selected Electro-Hydraulic Valves for Robotic Excavators

• Autorzy: Kamiński M. , Szlagowski J.
• Języki publikacji: EN

Abstrakty

EN

This publication presents the results of research performed over a selected type of electrohydraulic pilot valves used for positioning of a spool in a mobile hydraulics directional control valve (DCV). The assumption for this research was to focus on the mobile hydraulics DCVs (i.e. components that can practically be utilized in a robotic excavator application) because their performance, susceptibility to environmental factors, etc. are different than those of stationary hydraulic components. The DCV characteristics, basic dynamic parameters like step and sinusoidal input response and hysteresis were evaluated for different ranges of required output flow rate and the dynamics of DCV response. The results of this research work were discussed in the context of using DCVs for control of a robotic excavator taking into account the expected performance and typical operation scenarios of this type of machinery. The goal was to emphasize what are the key parameters that determine the feasibility of using these valves in such application.

Słowa kluczowe

EN

mobile hydraulics; proportional directional control valves; hydraulic cylinder control; electro-hydraulic pilot valves; robotic excavator

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2016
• Tom: Vol. 40, No. 3
• Strony: 53--65
• Opis fizyczny: Bibliogr. 7 poz., tab., wykr.

Twórcy

autor

Kamiński M.

• Warsaw University of Technology, Institute of Construction Machinery Engineering

autor

Szlagowski J.

• Warsaw University of Technology, Institute of Construction Machinery Engineering

Bibliografia

• 1. Akers, A., Gassman, M., and Smith, R. (2006). Hydraulic power system analysis. CRC press.
• 2. Çetin, Ş., and Akkaya, A. V. (2010). Simulation and hybrid fuzzy-PID control for positioning of a hydraulic system. Nonlinear Dynamics, 61(3):465–476.
• 3. GU, J., MA, X., NI, J., and SUN, L. (2012). Linear and non-linear control of robotic excavator. Journal of Central South University of Technology, 19:1823–1831.
• 4. Gu, J. and Seward, D. (2012). Improved control of intelligent excavator using proportional-integral-plus gain scheduling. Journal of Central South University, 19(2):384–392.
• 5. Kamiński, M. and Szlagowski, J. (2016). The influence of parameters of the selected electro-hydraulic pilot valves on the control quality obtained during hydraulic cylinder rod closed loop position control. Przegląd Mechaniczny, 11:26–31.
• 6. Kudźma, Z., Stosiak, M., and Herok, S. (2014). Test stand for estimation of static and dynamic characteristic of proportional hydraulic valves. Pomiary Automatyka Robotyka, 3:112–119.
• 7. Lee, C. S., Bae, J., and Hong, D. (2013). Contour control for leveling work with robotic excavator. International Journal of Precision Engineering and Manufacturing, 14(12):2055–2060.