Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder
Journal article, Peer reviewed
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Date
2020Metadata
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Jensen, K. J., Ebbesen, M. K. & Hansen, M. R. (2020). Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder. Applied Sciences, 10(21): 7847. doi: 10.3390/app10217847Abstract
This paper presents the design, simulation and experimental verification of adaptive feedforward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane. Based on common adaptation methods, a typical electro-hydraulic motion control system has been extended with a novel adaptive feedforward controller that has two separate feedforward states, i.e, one for each direction of motion. Simulations show convergence of the feedforward states, as well as 23% reduction in root mean square (RMS) cylinder position error compared to a fixed gain feedforward controller. The experiments show an even more pronounced advantage of the proposed controller, with an 80% reduction in RMS cylinder position error, and that the separate feedforward states are able to adapt to model uncertainties in both directions of motion.