Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

Abstract

In this paper, two Discrete Displacement Cylinders (DDCs) are used to drive the boom of a knuckle boom crane. DDCs operate by connecting one of several available pressure levels to each chamber in order to produce different forces. A trade-off exists with such systems, between the accuracy of tracking and energy dissipation due to switching. A popular way to approach this problem is a Force Shifting Algorithm (FSA). However, in this paper, the trade-off is managed by use of a Model Predictive Control (MPC) algorithm. The tracking accuracy and energy efficiency of the MPC and FSA strategies for DDCs are compared to a PID strategy for standard cylinders. The comparison is obtained by use of a computer simulation of a knuckle boom crane performing a realistic load cycle. The load cycle consists of the crane extending to pick up a load and then retracting to place it at an appropriate location. The main results show that MPC can deliver smoother and more accurate motion than FSA, while using less energy. Compared with standard cylinders and PID control, MPC uses less energy, but due to the switching of chamber pressures, the motion is smoother with the standard strategy. Both FSA and MPC can have degraded performance when a large change in load is introduced.
Original languageEnglish
Title of host publicationProceedings of the 2018 Global Fluid Power Society PhD Symposium
Number of pages7
PublisherIEEE Press
Publication date25 Sep 2018
Pages1-7
Article number8472363
ISBN (Print)978-1-5386-4786-8
ISBN (Electronic)978-1-5386-4785-1
DOIs
Publication statusPublished - 25 Sep 2018
Event2018 Global Fluid Power Society PhD Symposium (GFPS) - Samara, Russian Federation
Duration: 18 Jul 201820 Jul 2018

Conference

Conference2018 Global Fluid Power Society PhD Symposium (GFPS)
CountryRussian Federation
CitySamara
Period18/07/201820/07/2018

Fingerprint

Model predictive control
Cranes
Three term control systems
Energy efficiency
Energy dissipation
Computer simulation

Keywords

  • Discrete Displacement Cylinders
  • Knuckle Boom Crane
  • Model predictive control

Cite this

Donkov, V. H., Andersen, T. O., Pedersen, H. C., & Ebbesen, M. K. (2018). Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane. In Proceedings of the 2018 Global Fluid Power Society PhD Symposium (pp. 1-7). [8472363] IEEE Press. https://doi.org/10.1109/GFPS.2018.8472363
Donkov, Viktor Hristov ; Andersen, Torben Ole ; Pedersen, Henrik Clemmensen ; Ebbesen, Morten Kjeld. / Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane. Proceedings of the 2018 Global Fluid Power Society PhD Symposium . IEEE Press, 2018. pp. 1-7
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abstract = "In this paper, two Discrete Displacement Cylinders (DDCs) are used to drive the boom of a knuckle boom crane. DDCs operate by connecting one of several available pressure levels to each chamber in order to produce different forces. A trade-off exists with such systems, between the accuracy of tracking and energy dissipation due to switching. A popular way to approach this problem is a Force Shifting Algorithm (FSA). However, in this paper, the trade-off is managed by use of a Model Predictive Control (MPC) algorithm. The tracking accuracy and energy efficiency of the MPC and FSA strategies for DDCs are compared to a PID strategy for standard cylinders. The comparison is obtained by use of a computer simulation of a knuckle boom crane performing a realistic load cycle. The load cycle consists of the crane extending to pick up a load and then retracting to place it at an appropriate location. The main results show that MPC can deliver smoother and more accurate motion than FSA, while using less energy. Compared with standard cylinders and PID control, MPC uses less energy, but due to the switching of chamber pressures, the motion is smoother with the standard strategy. Both FSA and MPC can have degraded performance when a large change in load is introduced.",
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Donkov, VH, Andersen, TO, Pedersen, HC & Ebbesen, MK 2018, Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane. in Proceedings of the 2018 Global Fluid Power Society PhD Symposium ., 8472363, IEEE Press, pp. 1-7, 2018 Global Fluid Power Society PhD Symposium (GFPS), Samara, Russian Federation, 18/07/2018. https://doi.org/10.1109/GFPS.2018.8472363

Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane. / Donkov, Viktor Hristov; Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Ebbesen, Morten Kjeld.

Proceedings of the 2018 Global Fluid Power Society PhD Symposium . IEEE Press, 2018. p. 1-7 8472363.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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Donkov VH, Andersen TO, Pedersen HC, Ebbesen MK. Application of Model Predictive Control in Discrete Displacement Cylinders to Drive a Knuckle Boom Crane. In Proceedings of the 2018 Global Fluid Power Society PhD Symposium . IEEE Press. 2018. p. 1-7. 8472363 https://doi.org/10.1109/GFPS.2018.8472363