Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System
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 schem...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/349186 |
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| _version_ | 1832558786564325376 |
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| author | Rongsheng Liu Yingjie Gao Yulin Yang Yanlong Liu |
| author_facet | Rongsheng Liu Yingjie Gao Yulin Yang Yanlong Liu |
| author_sort | Rongsheng Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-33280d7dd16b40d0ad49d13caedcc31f |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-33280d7dd16b40d0ad49d13caedcc31f2025-02-03T01:31:35ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/349186349186Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom SystemRongsheng Liu0Yingjie Gao1Yulin Yang2Yanlong Liu3College of Mechanical Engineering, Yanshan University, 438 Hebei Avenue, Qinhuangdao 066004, ChinaCollege of Mechanical Engineering, Yanshan University, 438 Hebei Avenue, Qinhuangdao 066004, ChinaCollege of Mechanical Engineering, Yanshan University, 438 Hebei Avenue, Qinhuangdao 066004, ChinaCollege of Mechanical Engineering, Yanshan University, 438 Hebei Avenue, Qinhuangdao 066004, ChinaJoint 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.http://dx.doi.org/10.1155/2015/349186 |
| spellingShingle | Rongsheng Liu Yingjie Gao Yulin Yang Yanlong Liu Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System Journal of Control Science and Engineering |
| title | Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System |
| title_full | Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System |
| title_fullStr | Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System |
| title_full_unstemmed | Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System |
| title_short | Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System |
| title_sort | human simulated intelligent control with double direction dead zone compensation for joint motion control of a large sized boom system |
| url | http://dx.doi.org/10.1155/2015/349186 |
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