Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder

Konrad Johan Jensen, Morten Kjeld Ebbesen, Michael Rygaard Hansen
2020 Applied Sciences  
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
more » ... he 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.
doi:10.3390/app10217847 fatcat:d2nrltnbhfdm7cg6azpvml6k6q