Hydraulic Actuator Control for the Earth Moving Equipment Applications

Hydraulic Actuator Control for the Earth Moving Equipment Applications

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Two different hydraulic systems are currently implemented in the earthmoving equipment: open center and closed center. The construction of the open center hydraulic system is simple with the use of open center control valves and a fixed displacement pump. The industrial standard PID control cannot effectively deal with non-linearities associated with the open center valves. A real-time learning control algorithm based on the cerebellar model articulation controller (CMAC) neural network architecture is proposed and implemented in the open center hydraulic system. The CMAC controller was tested and compared with the conventional PI controller on the electrohydraulic laboratory setup. CMAC could learn the system non-linearities and improve the tracking performance. The performance of the CMAC control was consistent regardless of the variations in pump speeds and external loads.... 1 1 Schematic diagram of the laboratory experimental setup for one DOF hydraulic actuator control system using an open center valve 33 12 The relationship between the control inputs and the state variables 34 13a Steady- state modulationanbsp;...

Title:Hydraulic Actuator Control for the Earth Moving Equipment Applications
Publisher:ProQuest - 1999

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