Adaptive Control of a Hydraulic Crane using On-Line Identification
1993 (English)Report (Other academic)
In this paper we present an approach to adaptive control of hydraulic actuators with flexible mechanical loads. The approach is based on recursive identification of low order models of the dynamics from valve input to actuator position and effective load pressure respectively. The model parameters are used to compute a regulator that gives a well damped system with good servo properties. The identification is carried out on-line in closed loop with no other signals than those present in normal operation. Here RLS with variable forgetting factor is used. The method does not, however, need not more paramters to be set a priori than ordinary RLS with fix forgetting factor. In this way an easily tuned and robust identification algorithm is obtained. Results from experiments carried out on a lorry crane are presented.
Place, publisher, year, edition, pages
Linköping: Linköping University , 1993. , 26 p.
LiTH-ISY-R, ISSN 1400-3902 ; 1520
Fluid power systems, Adaptive control
IdentifiersURN: urn:nbn:se:liu:diva-55609OAI: oai:DiVA.org:liu-55609DiVA: diva2:316306