A Self-Contained Cylinder Drive with Indirectly Controlled Hydraulic Lock

• Main Authors: Søren Ketelsen, Torben Ole Andersen, Morten K. Ebbesen, Lasse Schmidt
• Format: Article
• Language: English
• Published: Norwegian Society of Automatic Control 2020-07-01
• Series: Modeling, Identification and Control
• Subjects: energy efficient hydraulic actuation; pump-controlled cylinder; cylinder direct drive; multivariable control; load holding; safety functionality; cylinder lock
• Online Access: http://www.mic-journal.no/PDF/2020/MIC-2020-3-4.pdf

This paper presents a self-contained pump-controlled hydraulic linear drive including an innovative load holding sub-circuit. For safety critical applications such as crane manipulators, locking valves or load holding valves are enforced by legislation, but the load holding functionality may also be used actively to decrease the energy consumption for applications where the load is kept stationary for longer periods of time. The system proposed in this paper is based on a simple hydraulic architecture using two variable-speed electric motors each connected to a fixed-displacement pump. This architecture is well-known in academic literature, but in this paper a novel load holding sub-circuit has been included. To control this load holding functionality, the low chamber pressure needs to be controlled accurately, while still being able to control the motion of the cylinder piston as well. Due to strong cross-couplings between cylinder piston motion and chamber pressures this task is non-trivial. The control for opening the locking valves is indirect in the sense that it is controlled via the chamber pressures, which are actively controlled. The fundamental control strategy presented in this paper is based on transforming the highly coupled physical states to virtual states, significantly reducing cross-couplings.