文章基本信息

标题：Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System
本地全文：下载
作者：Rongsheng Liu ; Yingjie Gao ; Yulin Yang 等
期刊名称：Journal of Control Science and Engineering
印刷版ISSN：1687-5249
电子版ISSN：1687-5257
出版年度：2015
卷号：2015
DOI：10.1155/2015/349186
出版社：Hindawi Publishing Corporation
摘要：Joint motion control of a 52-meter-long five-boom system driven by proportional hydraulic system is developed. It has been considered difficult due to strong nonlinearities and parametric uncertainties, the effect of which increases with the size of booms. A human simulated intelligent control scheme is developed to improve control performance by modifying control mode and control parameters. In addition, considering the negative effects caused by frequent and redundant reverse actions of the proportional valve, a double-direction compensation scheme is proposed to deal with the dead-zone nonlinearity of proportional valve. Sinusoidal motions are implemented on a real boom system. The results indicate that HSIC controller can improve control accuracy, and dead-zone nonlinearity is effectively compensated by proposed compensation scheme without introducing frequent reverse actions of proportional valve.