Optimal Tuning of Heavy Equipment Motion Controllers
Abstract
The objective of this work is the demonstration of feasibility of computerized optimal tuning of electronic motion controllers for mobile heavy equipment end-effectors. A backhoe yaw mode position control system was selected as the application for the purpose of proof of concept. The control algorithm selected for use in the servocontroller is Pseudo-Derivative Feedback (PDF). A computer model and an operational laboratory model of a translational electrohydraulic position control system dynamically analogous to the structural, mechanical, and hydraulic components of the selected backhoe position control system were constructed. These models were exercised in simulation of the backhoe system equipped with an electronic servocontroller incorporating the PDF algorithm. The computer model was first validated in its baseline configuration by way of comparison with baseline laboratory model test results. 'Baseline' refers to the complete system, but with proportional position feedback control in place of the PDF algorithm. An interesting aspect of this project is the two degree-of-freedom system constituted by the relatively compliant boom, coupling the hydraulic actuator with a fully loaded bucket. This is of particular interest since the bucket does not lend itself to position instrumentation, thereby precluding load position feedback. Data supporting the successful demonstration of computerized automation of optimal tuning is presented.... Motion control, Computer-aided control system design
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 01, 1993
- Accession Number
- ADA267873
Entities
People
- William N. Varnava
- William V. Miller
Organizations
- Naval Facilities Engineering Service Center