Open AccessA Sliding-Mode Set-Point Position Controller for Hydraulic Excavators
Author(s) -
Yuki Yamamoto,
Jinjun Qiu,
Yoshiki Munemasa,
Takayuki Doi,
Takao Nanjo,
Koji Yamashita,
Ryo Kikuuwe
Publication year - 2021
Publication title -
ieee access
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.587
H-Index - 127
ISSN - 2169-3536
DOI - 10.1109/access.2021.3128215
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
This paper proposes a sliding-mode set-point position controller for hydraulic excavators. The controller employs a simple switching surface that exponentially drives the actuator position to the desired position with a specified time constant. The discrete-time algorithm of the controller is constructed through a double-implicit implementation scheme, which is for implementing a simple sliding-mode controller to nonsmooth actuators, including hydraulic actuators. We employ a nonsmooth quasistatic model of the hydraulic actuator, which analytically accounts for the pressure saturation caused by the relief valves and check valves and the square-root law of the pressure-flowrate relation. This paper elaborates the analytical form of the model to be combined with the double-implicit implementation. A state predictor based on the actuator model extends the controller to compensate for the deadtime in the hydraulic system. The proposed controller is validated with some simulations and also through experiments employing the swing axis of a 13-ton class excavator.