Development and testing of load- and motion-decoupled actuator structures using nonlinear, model-based control algorithms

使用非线性、基于模型的控制算法开发和测试负载和运动解耦执行器结构

• 批准号: 441872331
• 负责人: Professor Dr.-Ing. Jürgen Weber
• 金额: --
• 依托单位: Professur für Fluid-Mechatronische Systemtechnik (Fluidtronik)
• 依托单位国家: 德国
• 项目类别: Research Grants (Transfer Project)
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/441872331?language=en
• 关键词: Development; testing; load; motion; decoupled

The aim is to develop and test robust independent metering control systems for efficient use in mobile work machines in terms of functional and economic industrial suitability. Current trends, such as automation and assistance yield in higher requirements for accuracy, controllability and operating characteristics of electro-hydraulic drives.A key challenge is the tuning of the control systems regarding energy efficiency, performance and robustness, especially under changing environmental variables. Using internal and cross-regeneration-modes, regenerative loads can be utilized and the primary power of the pump can be reduced. Due to process interactions and the complex kinematic structures of mobile machines, there are abrupt changes in load and speed. A soft transition between different recovery modes is the basis for an energy efficient machine operation.Using standardized, individual 2-way cartridge valve technology, instead of highly specialized directional valves, versatile potentials in terms of flexibility can be used on component as well as on system level. Seat valves with proportional characteristic allow volume flow control and additional functions such as load holding.Simulation based investigations provide information about requirements at component and functional level. Novel control concepts will be developed or existing methods from robotics can be adapted to the requirements of mobile construction machines. For this purpose, a two-step approach is proposed. First of all the algorithms will be developed and tested in a software in the loop environment (SiL) using a model of the virtual machine prototypes. In the second step, the developed algorithms are to be transferred and tested on a machine-level control hardware. The control device exchanges information with a real-time machine model in a hardware in the loop environment (HIL). The results of the simulation and development steps are transferred to the overall machine level. Finally an energetic and functional optimization of the overall machine system and its operating behaviour is conducted. After deriving appropriate criteria (performance indicators) a performance assessment is carried out.

目的是开发和测试强大的独立计量控制系统，以便在功能和经济工业适用性方面有效地用于移动作业机械。当前的趋势，例如自动化和辅助，对电液驱动的准确性、可控性和操作特性提出了更高的要求。一个关键的挑战是控制系统在能源效率、性能和鲁棒性方面的调整，特别是在不断变化的环境变量下。使用内部和交叉再生模式，可以利用再生负载并可以降低泵的主功率。由于移动机器的过程相互作用和复杂的运动结构，负载和速度会发生突变。不同恢复模式之间的软过渡是机器节能运行的基础。使用标准化、单独的二通插装阀技术，而不是高度专业化的方向阀，可以在组件和系统级别上发挥灵活性方面的多种潜力。具有比例特性的座阀允许体积流量控制和负载保持等附加功能。基于模拟的研究提供了有关组件和功能级别要求的信息。将开发新的控制概念，或者将机器人技术的现有方法适应移动施工机械的要求。为此，提出了一种两步走的方法。首先，将使用虚拟机原型模型在循环环境软件 (SiL) 中开发和测试算法。第二步，开发的算法将在机器级控制硬件上进行传输和测试。控制设备与硬件在环环境（HIL）中的实时机器模型交换信息。模拟和开发步骤的结果被转移到整体机器层面。最后对整个机器系统及其操作行为进行能量和功能优化。在得出适当的标准（绩效指标）后，进行绩效评估。