scholarly journals Model predictive control of hydraulic drive unit considering input delay

2021 ◽  
Author(s):  
Kailei Liu ◽  
Hongbin Qiang ◽  
Shaopeng Kang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Hydraulic Drive ◽  
Input Delay ◽  
Drive Unit ◽  
Hydraulic Drive Unit

scholarly journals Model Predictive Control of Hydraulic Drive Unit Considering Input Delay

2021 ◽  
Author(s):  
Kailei Liu ◽  
Hongbin Qiang ◽  
Shaopeng Kang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Hydraulic Drive ◽  
State Equation ◽  
Delay System ◽  
The State ◽  
Input Delay ◽  
Drive Unit ◽  
State Observation ◽  
Hydraulic Drive Unit

Hydraulic drive unit (HDU) is a typical actuator, but the characteristic of input delay hinders the application of many advanced control methods in HDU. Firstly, in this paper, a mathematical model of HDU with input delay is established and the parameters are identified. Then, aiming at the input delay problem in HDU, a Smith estimated compensation model predictive control (SECMPC) strategy is proposed. On the one hand, the input delay state equation is employed to be a mathematical pattern for the state observation and predictive model. However, the combination between model predictive control (MPC) and Smith estimated compensation (SEC) is realized, the system state at k+d (d is the time delay coefficient) time is estimated in advance at k time to compensate the delay of the state. And then the prediction model based on input delay state equation is used for model prediction and rolling optimization. Thus the delay system which is unstable is promoted to a stable system without delay, and the effectiveness of SECMPC is proved with the HDU experiment and simulation. The SECMPC have some guiding significance for the control of systems with input delay.

scholarly journals Design of Vehicle Lifting Equipment Using Progressive Methods

2021 ◽  
Vol 12 (1) ◽  
pp. 238-248
Author(s):  
Matúš Čuchor ◽  
Ľuboš Kučera ◽  
Michal Lukáč
Keyword(s):  
Structural Design ◽  
Hydraulic Drive ◽  
Passenger Cars ◽  
Drive Unit ◽  
Main Components ◽  
Lower Frame ◽  
Hydraulic Drive Unit ◽  
Lifting Equipment ◽  
Insight Into ◽  
Basic Strength

Abstract The main objective of this article is to analyse the structural design of tire lifting equipment for tire services. To gain a better insight into the problem, several steps must be taken. The first step is to conduct a market analysis, which involves identifying all available equipment. Several types of lifting devices were distinguished within the development process, which differ from each other in terms of design and power supply. The type of structure and power unit represent the second steps in the design process. This is a critical aspect of the design since the forces necessary to move the system change as a result of these attributes. The design itself is the last step in the device’s design. Passenger cars differ from each other by their weight, which is limited to 3.5 tons. Based on the weight, basic strength calculation and dimensioning of the lifting device are carried out. Based on the calculations, the scissor lift device is selected. The lower frame, scissor legs, ramp, mechanical lock, and scissors drive mechanism are five main components of the device. This type of structure is best used with a hydraulic drive unit, which is calculated in the article.

scholarly journals Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 11237-11245 ◽  
Author(s):  
Bin Yu ◽  
Kaixian Ba ◽  
Yaliang Liu ◽  
Zhengguo Jin ◽  
Qixin Zhu ◽  
...  
Keyword(s):  
Hydraulic Drive ◽  
Legged Robot ◽  
Drive Unit ◽  
Hydraulic Drive Unit ◽  
Design And Application

Simulation Research on Load-Imitating Test Equipment for Hydraulic Drive Unit of a Quadruped Robot Based on Feed-Forward Decoupling Control

2013 ◽  
Vol 365-366 ◽  
pp. 839-846 ◽  
Author(s):  
Ling Xiao Quan ◽  
De Zhi Tian ◽  
Bin Yu
Keyword(s):  
Hydraulic Drive ◽  
Decoupling Control ◽  
Test Equipment ◽  
Load Force ◽  
Control Effect ◽  
Drive Unit ◽  
Simulation Research ◽  
Force System ◽  
Feed Forward ◽  
Hydraulic Drive Unit

This paper establishes the simulation model of a load-imitating test equipment for a hydraulic drive unit of a quadruped bionic robot, analyzing load force changes during the work process of the hydraulic drive unit, and researching load-imitating characteristics. A Strategy based on feed-forward decoupling control is proposed to realize the decoupling between the position system and the force system of the load-imitating test equipment to improve load-imitating precision. The results show that control effect of feed-forward decoupling control is satisfactory, and this control strategy can effectively improve load-imitating precision of the test equipment. The research above can also provide theoretical foundation for test application of the hydraulic drive unit.

scholarly journals High-Accuracy Force Control With Nonlinear Feedforward Compensation for a Hydraulic Drive Unit

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 101063-101072 ◽  
Author(s):  
Bin Yu ◽  
Ruidong Liu ◽  
Qixin Zhu ◽  
Zhipeng Huang ◽  
Zhengguo Jin ◽  
...  
Keyword(s):  
Force Control ◽  
Hydraulic Drive ◽  
High Accuracy ◽  
Drive Unit ◽  
Hydraulic Drive Unit

Hydraulic drive unit for operating a gate

1990 ◽  
Vol 24 (4) ◽  
pp. 277-280 ◽  
Author(s):  
I. Kh. Kaplan
Keyword(s):  
Hydraulic Drive ◽  
Drive Unit ◽  
Hydraulic Drive Unit

Nonlinear mathematical modeling and sensitivity analysis of hydraulic drive unit

2015 ◽  
Vol 28 (5) ◽  
pp. 999-1011 ◽  
Author(s):  
Xiangdong Kong ◽  
Bin Yu ◽  
Lingxiao Quan ◽  
Kaixian Ba ◽  
Liujie Wu
Keyword(s):  
Mathematical Modeling ◽  
Sensitivity Analysis ◽  
Hydraulic Drive ◽  
Drive Unit ◽  
Hydraulic Drive Unit
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