Abstract
During the vertical cyclic actuation process of heavy materials handling, the gravitational potential energy will be converted to heat in the form of throttle in the traditional hydraulic system. Therefore, large energy dissipation is inevitable is this process. In order to achieve energy recuperation, as well as precise trajectory tracking, a direct drive and energy recuperation system is developed. To be specific, the function of direct drive and energy recovery is realized via the three-chamber actuator and a hydraulic accumulator. Moreover, the optimized parameters are obtained by the simulated annealing algorithm. To further reduce the energy consumption, the variable supply pressure control circuit is introduced into the system. Furthermore, the prescribed tracking performance is guaranteed by the proposed robust controller. To compensate for the uncertainties, both in the variable supply pressure control circuit and the robust controller, the RBF neural network is employed to approximate the unknown function. The presented approach theoretically possesses the ability to minimize the energy consumption while maintaining satisfied tracking accuracy. The results demonstrate that the proposed approach can save nearly 90 percent of the energy, and the maximum tracking error is 2 mm.
Highlights
Hydraulic actuation has numerous applications in mobile machinery and industrial engineering such as steering system, heavy-duty robot, press, and excavator [1,2,3,4]
It is necessary to minimize the energy consumption under the premise of ensuring the tracking performance. Both the hardware configuration and the control strategy should be taken into consideration. erefore, a direct drive and energy recuperation hydraulic servo system as well as its corresponding robust controller is presented in this study so as to achieve the multiobjective task
There exists many literatures regarding hydraulic accumulator-based energy recovery, the energy conversion or transition link such as the hydraulic transformer or inverter is required. erefore, part of the energy will be wasted in these kinds of systems. e first two chambers are connected with the variable supply pressure control circuit (VSPC), which mainly consists of a proportional directional valve (PDV), a proportional relief valve (PRV), and a fixed displacement pump. e VSPC is able to regulate the supply pressure according to the demand. erefore, the pump only needs to provide a low pressure in the entire working process
Summary
Hydraulic actuation has numerous applications in mobile machinery and industrial engineering such as steering system, heavy-duty robot, press, and excavator [1,2,3,4]. A load-prediction-based VSPC controller was developed for a hydraulic actuated robot so as to enhance the energy saving capability of the system [24]. It is necessary to minimize the energy consumption under the premise of ensuring the tracking performance For this purpose, both the hardware configuration and the control strategy should be taken into consideration. Erefore, a direct drive and energy recuperation hydraulic servo system as well as its corresponding robust controller is presented in this study so as to achieve the multiobjective task. E first two chambers are connected with the variable supply pressure control circuit (VSPC), which mainly consists of a proportional directional valve (PDV), a proportional relief valve (PRV), and a fixed displacement pump. The controller generates a control signal for PRV in order to reduce the energy consumption
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