TY - GEN
T1 - Synchronization Control for Hydraulic Motors of Boom Refueling Experimental Platform
AU - Qu, Yaohong
AU - He, Qingjie
AU - Yu, Ziquan
AU - Xing, Zhewen
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - In this paper, the position synchronization control problem is investigated based on the boom refueling experimental platform. Two hydraulic motors are used to pull refueling boom by cables, but how to enhance the synchronization precision of two motors is a question needed to be considered. Firstly, motors models and geometric position relation of the platform are established based on the parameters of motors and the platform size. Next, a lot of experiments are conducted and hence, the motor dead zone and flow gain is determined through the analysis of experimental data. Besides, we also designed a dead zone compensation controller to weaken its impact on the system Then, we propose a state coordinated synchronization control law with auto disturbance rejection control. Finally, the simulation work and field test is carried out to verify the control performance of the controller. The proposed controller achieves good control performance and can satisfy the control requirements.
AB - In this paper, the position synchronization control problem is investigated based on the boom refueling experimental platform. Two hydraulic motors are used to pull refueling boom by cables, but how to enhance the synchronization precision of two motors is a question needed to be considered. Firstly, motors models and geometric position relation of the platform are established based on the parameters of motors and the platform size. Next, a lot of experiments are conducted and hence, the motor dead zone and flow gain is determined through the analysis of experimental data. Besides, we also designed a dead zone compensation controller to weaken its impact on the system Then, we propose a state coordinated synchronization control law with auto disturbance rejection control. Finally, the simulation work and field test is carried out to verify the control performance of the controller. The proposed controller achieves good control performance and can satisfy the control requirements.
KW - ADRC
KW - Boom refueling
KW - Hydraulic motors
KW - Synchronization control
UR - http://www.scopus.com/inward/record.url?scp=85082461811&partnerID=8YFLogxK
U2 - 10.1109/GNCC42960.2018.9018746
DO - 10.1109/GNCC42960.2018.9018746
M3 - 会议稿件
AN - SCOPUS:85082461811
T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Y2 - 10 August 2018 through 12 August 2018
ER -