Payload oscillation reduction in load-handling machines: A frequency-based approach

This article presents an innovative pressure feedback method to address undesired payload oscillations in hydraulic load-handling machines, which have a negative impact on both machine productivity and safety. Tracking control techniques in these machines are often not applicable due to the difficulty or the cost associated with the installation of the feedback sensors on the payload. In this work, by means of pressure sensors installed on the hydraulic system, the payload oscillation frequency is first detected by analyzing the frequency content of the measured pressure and then counteracted through a sinusoidal-based excitation command on the machine actuator. The work particularly addresses the challenges related to the use of the same actuator for detecting and quantifying the oscillation (in both frequency and amplitude) and for reducing the payload oscillations. In fact, interference on the feedback pressure signal due to the control action is present. Experimental results on a truck-mounted hydraulic crane show how the proposed technique permits to reduce payload oscillation in order of 50%, which is comparable to other less-practical tracking control techniques.

[1]  Andrea Vacca,et al.  A Frequency-Based Control Methodology for the Reduction of Payload Oscillations in Hydraulic Load Handling Machines , 2015 .

[2]  K. Srinivasan,et al.  Self-Tuning Control Application to Closed-Loop Servohydraulic Material Testing , 1990 .

[3]  Umesh A. Korde.  Active heave compensation on drill-ships in irregular waves , 1998 .

[4]  Otto J. M. Smith.  Posicast Control of Damped Oscillatory Systems , 1957, Proceedings of the IRE.

[5]  M. Kenison,et al.  Input shaper design for double-pendulum planar gantry cranes , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[6]  Andrea Vacca,et al.  Energetic and dynamic impact of counterbalance valves in fluid power machines , 2013 .

[7]  Mikael Axin.  Fluid Power Systems for Mobile Applications : with a Focus on Energy Efficiency and Dynamic Characteristics , 2013 .

[8]  Andrea Vacca,et al.  A Novel Pressure-Feedback Based Adaptive Control Method to Damp Instabilities in Hydraulic Machines , 2012 .

[9]  Bin Yao,et al.  Observer based coordinated adaptive robust control of robot manipulators driven by single-rod hydraulic actuators , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  Warren P. Seering,et al.  Preshaping Command Inputs to Reduce System Vibration , 1990 .

[11]  Monika Ivantysynova,et al.  An Overview about Active Oscillation Damping of Mobile Machine Structure , 2004 .

[12]  A. J. Scarlett,et al.  Whole-body vibration: Evaluation of emission and exposure levels arising from agricultural tractors , 2007 .

[13]  Cheng-Yuan Chang,et al.  Vision based controller design with the application to a 3D overhead crane system , 2013, 2013 International Conference on System Science and Engineering (ICSSE).

[14]  O Sawodny,et al.  Active Control for an Offshore Crane Using Prediction of the Vessel’s Motion , 2011, IEEE/ASME Transactions on Mechatronics.

[15]  Bin Yao,et al.  High performance swing velocity tracking control of hydraulic excavators , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[16]  Bosch Rexroth,et al.  APPLICATIONS OF HYDRAULIC ACTUATORS FOR DAMPING AND ISOLATION OF STRUCTURAL OSCILLATIONS , 2022 .

[17]  Hyungsuck Cho,et al.  Adaptive model following control of electrohydraulic velocity control systems subjected to unknown disturbances , 1988 .

[18]  Andrea Vacca,et al.  Modeling hydraulic actuator mechanical dynamics from pressure measured at control valve ports , 2015, J. Syst. Control. Eng..

[19]  K. Nevala,et al.  An active vibration damping system of a driver's seat for off-road vehicles , 1997, Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice.

[20]  Hirohiko Ogino,et al.  Active seat suspension for a small vehicle: considerations for control system including observer , 2007, ICMIT: Mechatronics and Information Technology.

[21]  W. Singhose,et al.  Input shapers for improving the throughput of torque-limited systems , 1994, 1994 Proceedings of IEEE International Conference on Control and Applications.

[22]  William Singhose,et al.  Reduction of Double-Pendulum Bridge Crane Oscillations , 2006 .

[23]  Mika Ijas,et al.  Damping of Low Frequency Pressure Oscillation , 2007 .

[24]  Y. T. Wang,et al.  Self‐optimization adaptive velocity control of asymmetric hydraulic actuator , 1995 .

[25]  Keum-Shik Hong,et al.  Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning , 2002 .

[26]  K A Edge,et al.  Modelling of an electrohydraulically-activated friction damper in a vehicle application , 2001 .

[27]  Shing-Tai Pan,et al.  Applying vision feedback to crane controller design , 2015, Int. J. Syst. Sci..

[28]  Kelvin Chen Chih Peng,et al.  Using Machine Vision and Hand-Motion Control to Improve Crane Operator Performance , 2012, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[29]  P. R. Ukrainetz,et al.  Simplified adaptive control of an electrohydraulic servosystem , 1988 .

[30]  Petter Krus,et al.  Adaptive Control of a Hydraulic Crane using On-Line Identification , 1993 .

[31]  Ziyad N. Masoud,et al.  Pendulation Reduction on Small Ship-Mounted Telescopic Cranes , 2003 .

[32]  Dean T. Mook,et al.  Cargo Pendulation Reduction on Ship-Mounted Cranes Via Boom-Luff Angle Actuation , 2001 .

[33]  Davide Cristofori,et al.  Advanced control strategies for mobile hydraulic applications , 2013 .

[34]  Khac Duc Do,et al.  Nonlinear control of an active heave compensation system , 2008 .

[35]  José Eugenio Naranjo,et al.  Electro-hydraulic braking system for autonomous vehicles , 2010 .