The control system for a manipulator with two degrees of freedom for water hydrostatic transmission drive

• Autorzy: Kucybała P. , Sobczyk A.

Identyfikatory

DOI

10.5604/12314005.1165982

• Języki publikacji: EN

Abstrakty

EN

The article presents concepts of control of the manipulator with two degrees of freedom, which uses a water hydraulic power unit to drive the actuators. The proposed control system is based on the use of electromagnetically controlled “rosettes valve” and proportional flow control valve. The control system is implemented using a computer equipped with a module for the real-time operating system (XPC Target) working in connection with the environment Matlab/Simulink. Controlled variable of the drive system is the displacement of the individual hydraulic cylinder and after determining manipulator kinematics, any point of the object in operating space. The positioning error of individual manipulator elements will be determined during the test in terms of different control algorithms, using the PID controller and PWM signal. In addition, it analyses the impact of changes in the velocity of the piston rod for the boom mechanism and the arm mechanism. An important aspect of the presented hydrostatic drive system is the use of water as a medium that physical and chemical properties are different from commonly used hydraulic oil, and which is friendly to the environment and meet the high cleanliness requirements for the fluid used to transfer the hydrostatic energy. Therefore, the control system requires a different approach, tied with synchronous control valves ON/OFF and proportional control flow regulators to achieve high accuracy.

Słowa kluczowe

EN

fluid power control system; hydrostatic transmission system; water hydraulics

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2015
• Tom: Vol. 22, No. 3
• Strony: 125--132
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Kucybała P.

• Cracow University of Technology, Institute of Machine Design Jana Pawła II Avenue 37, 31-864 Krakow, Poland tel.: [phone]

autor

Sobczyk A.

• Cracow University of Technology, Institute of Machine Design Jana Pawła II Avenue 37, 31-864 Krakow, Poland tel.: [phone]

Bibliografia

• [1] Conrad, F., Pobędza, J., Sobczyk, A., IT-tools concept for simulation and design of water hydraulic mechatronic test facilities for motion control and operation in environmentally sensitive application areas, Paper No. IMECE2004-62411, pp. 277-285.
• [2] Chwastek, S., Pobędza, J., Sobczyk, A., Właściwości mechatronicznego układu sterowania z zastosowaniem wody jako cieczy roboczej w układzie wykonawczym manipulatora, Hydraulika i Pneumatyka, Nr 6, pp. 49-51, 2002.
• [3] Gawlik, A., Pobędza, J., Sobczyk, A., Walczak P., Tests of directional poppet valves with DLC and CNC coatings for water hydraulic, International Scientific-Technical Conference: Hydraulics and Pneumatics, pp. 519-531, Wroclaw 2012.
• [4] Kontz, M., Book, W., Electronic control of pump pressure for a small haptic backhoe, International Journal of Fluid Power, No. 2, 2007.
• [5] Kucybała, P., Pobędza, J., Sobczyk, A., Kształtowanie trajektorii pracy hydraulicznego wodnego manipulatora o dwóch stopniach swobody, Logistyka, Nr 6, 2014.
• [6] Pobędza, J., Sobczyk, A., Rozdzielacze zaworowe z pokryciami powierzchni do układów hydrauliki wodnej, HiP Hydraulika i Pneumatyka, Nr 1, p. 9-13, Wrocław 2013. [7] Pobędza, J., Sobczyk, A., Modern coating used in high pressure water hydraulic components, Key Engineering Materials, Vol. 542, pp. 143-155, Advanced Materials in Machine Design, Zurich-Durnten, Trans Tech Publications Ltd., 2013.
• [8] Semeniuk, E., Sobczyk, A., Walczak, P., Modelowanie i badania wysokociśnieniowej hydra-uliki wodnej, Hydraulika i Pneumatyka, Nr 2, p. 19-22, 2009.
• [9] Sobczyk, A., Water Hydraulics – the industrial perspective, water hydraulics. The natural choice, pp. 34-67, Bergen University College, Norway 2004.
• [10] Qiu, H., Zhang, Q., Feedforward-plus-proportional-integral-derivative controller for an off-road vehicle electrohydraulic steering system, J. Automobile Engineering, Vol. 217, 2003.