Title :
Modeling and control of hydraulic rotary actuators used in forestry cranes
Author :
La Hera, Pedro M. ; Mettin, Uwe ; Westerberg, Simon ; Shiriaev, Anton S.
Author_Institution :
Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden
Abstract :
The steps for modeling and control of a hydraulic rotary actuator are discussed. Our aim is to present experimental results working with a particular sensing device for angular position as a complement to pressure sensing devices. We provide the steps in experimental system identification used for modeling the system dynamics. The cascade controller designed contains an inner loop for an accurate tracking of torque while stabilizing position reference trajectories. The performance of this design is experimentally verified.
Keywords :
control system synthesis; cranes; forestry; hydraulic actuators; stability; accurate torque tracking; angular position; cascade controller design; forestry cranes; hydraulic rotary actuators; inner loop; position reference trajectory stabilization; pressure sensing devices; system dynamics modeling; system identification; Automatic control; Control design; Cranes; End effectors; Forestry; Manufacturing; Pneumatic actuators; System identification; Torque control; Vehicle dynamics; Control Design; Hydraulic Manipulator; Robotics in Agriculture and Forestry; System Identification;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152522
