Joint motion control of a 52-meter-long five-boom system driven by proportional hydraulic system is developed. It has been\nconsidered difficult due to strong nonlinearities and parametric uncertainties, the effect ofwhich increaseswith the size of booms.A\nhuman simulated intelligent control scheme is developed to improve control performance by modifying control mode and control\nparameters. In addition, considering the negative effects caused by frequent and redundant reverse actions of the proportional valve,\na double-direction compensation scheme is proposed to deal with the dead-zone nonlinearity of proportional valve. Sinusoidal\nmotions are implemented on a real boom system.The results indicate that HSIC controller can improve control accuracy, and deadzone\nnonlinearity is effectively compensated by proposed compensation scheme without introducing frequent reverse actions of\nproportional valve.
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