the digital hydraulic challenge, to switch or not to...
TRANSCRIPT
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The digital hydraulic challenge, to switch or not to switch
Dr. Magnus Sethson Assistant Professor, Senior Lecturer
Division of Fluid and Mechatronic Systems, Linköping UniversitySweden
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Digital Hydraulics
Switched Controlled Force
Project Update
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Cooperative Work with Linköping University
Norrhydro Oy, Finland
Volvo Construction Equipment AB, Sweden
HYDAC GmbH, Germany
Project Mission:!To evaluate the Norrhydro multi chamber cylinder technology in a digital hydraulic configuration with focus on applications of Volvo Construction Equipments products using valves from HYDAC. The digital hydraulic technology is originally invented by prof. Matti Linjama at Tampere University in Finland.
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Switched Circuits
The Electronic Analogy
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Switched Circuits
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The supply does not need to be the same!
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Multi Chamber Cylinder
Discrete force actuator
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Several cylinders can be put in parallel.
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The Norrhydro 4 chamber cylinder
qA
qB
qC
qD
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The test setup
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Valve package 27 valves
4 A chamber 2 B chamber 2 C chamber 1 D chamber
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Valve inline orifice configuration
Lift main cylinder & WS10 valvesOrifice diameter configuration
A B C D
1 - 1,5 3 1,2
2 3,5 1 2
3 2,5
4 1,5
Chamber
Valv
e nu
mbe
r
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Photo of test rigg
qBqC
qA
qD
27:9:3:1
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Force steps
3 pressure lines and 4 chambers gives 81 force steps
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Overall system layout
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ControlStrategies for force and
position control
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Control structure
pH :
pM :
pL :
PI-Controller ui Valve selector
Actuator
x
iABCD�x
xref
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u = ui such as min
⇣|Fref � ˆF (ui)|
⌘for i 2 [1..81]
u : Controller signal
ui : Valve combination index
Fref : Estimated force reference
ˆF (ui) : Calculated force response
i : index in the 81 combination set
Strategy: min�F
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Strategy: min�F + Fpenalty
u = ui
such as min
⇣|F
ref
� ˆF (ui
)|+ Fp
⌘for i 2 [1..81]
u : Controller signal
ui
: Valve combination index
Fref
: Estimated force reference
ˆF (ui
) : Calculated force response
i : index in the 81 combination set
Fp
= 2000N if ui
6= uprevious
otherwise 0N
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Strategy: min�F + Fpenalty + Score
u = ui such as min
⇣|Fref � ˆF (ui)|+ Fp
⌘for i 2 [1..81]
u : Controller signal
ui : Valve combination index
Fref : Estimated force reference
ˆF (ui) : Calculated force response
i : index in the 81 combination set
Fp = f(ui, uprevious, pH , pM , pL)
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ComparisonStrategy: min�F + Fpenalty + ScoreStrategy: min�F + Fpenalty + ScoreStrategy: min�F + Fpenalty + Score
Extensive switching Smoother switchingLarger errors
Some switchingSome errors
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Phase 2Reevaluating the switching
trigger functions and energy harvesting
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Human in-the-loop
pH :
pM :
pL :
PI � Controller
ui Valve selector
Actuator
Brain
fprex�x
xref iABCD
ObservationExperience
Handling
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Example: Velocity matching
tt1 t2
xref (t)x(t)
x(2,N2)x(1,N1)
x(1,i)
x(2,i)
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Path following
tt1 t2
xref (t)
x(t)
xmeasure(t)
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AH BG
DE CF BG AH
33
22
44
11
DESIGNED BYXXX
DATE
XXX
CHECKED BYXXX
DATE
XXX
DRAWN BYulfbe60
DATE
4/8/2013
This drawing is our property.It can't be reproducedor communicated withoutour written agreement.
SCALE 1:25 WEIGHT(kg) SHEET 1/1
SIZE
A3DRAWING NUMBER
12 15 300 Bl.1REV
X
DRAWING TITLE
Tower
12 15 060
2/ Slutlig CE-märkning och momentdragning av bultförband utförs av beställaren. Se e-mail 2012-10-24 och 2014-04-11. SkruvM16 12.9 Mv: 333 Nm.1/ Lagenliga skyddsanordningar ombesörjes av beställaren.
12 15 070
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Conclusions• Digital hydraulics have
potential in multi-axis systems.
• The switching strategy is paramount to its energy efficiency and controllability.
• Research is still needed to understand the non pre-filtered applications.