Abstract
AbstractThe use of haptic interfaces to control mobile hydraulic machinery has several enhancing features over traditional human-machine interfaces comprised of joysticks/levers. This paper presents and analyzes schemes for controlling pump pressure designed for coordinated haptic control. Typical of many small backhoes and excavators, the hydraulic system used on the test-bed is comprised of a constant displacement pump and proportional directional control valves. In this type of system, a main pressure regulator is needed to supply the other closed-centre valves with pressure and to dump the additional flow generated by the pump to tank. An energy-saving solution has a load-sensing pressure regulator that maintains the system pressure to a preset margin above the highest active load pressure. Using these valves for haptic applications requires closed-loop control. Applying closed-loop control to these valves can excite instabilities in the valve assembly due to complex interactions and nonlinearities in...
Published Version
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