Abstract
This research paper presents the first part of a comparative analysis of a novel self-contained electro-hydraulic cylinder with passive load-holding capability against a state of the art, valve-controlled actuation system that is typically used in load-carrying applications. The study is carried out on a single-boom crane with focus on the control design and motion performance analysis. First, a model-based design approach is carried out to derive the control parameters for both actuation systems using experimentally validated models. The linear analysis shows that the new drive system has higher gain margin, allowing a considerably more aggressive closed-loop position controller. Several benefits were experimentally confirmed, such as faster rise time, 75% shorter settling time, 61% less overshoot, 66% better position tracking, and reduction of pressure oscillations. The proposed control algorithm is also proven to be robust against load variation providing essentially the same position accuracy. In conclusion, the novel self-contained system is experimentally proven to be a valid alternative to conventional hydraulics for applications where passive load-holding is required.
Highlights
Compact and self-contained electro-hydraulic cylinders (SCCs) have received considerable attention in the last decade [1,2,3,4,5,6,7,8,9]. They are, according to the definition used in this paper, self-sufficient linear hydraulic actuators controlled by a dedicated hydraulic unit that is driven by an electric prime mover
Three closed-loop tests are carried out to analyze the motion performance of the novel self-contained system compared to the valve-controlled solution
A control algorithm was designed based on linear techniques, including pressure feedback to add artificial damping to the system
Summary
Compact and self-contained electro-hydraulic cylinders (SCCs) have received considerable attention in the last decade [1,2,3,4,5,6,7,8,9]. They are, according to the definition used in this paper, self-sufficient linear hydraulic actuators controlled by a dedicated hydraulic unit that is driven by an electric prime mover. There is, a lack of experimental studies comparing state-of-the-art, valve-controlled technology for load-carrying applications to self-contained hydraulic cylinders in the technical literature, both in terms of motion performance and energy efficiency. The first part of this research aims to experimentally assess the motion performance of a novel self-contained electro-hydraulic cylinder
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