A master thesis from Aalborg University
Energy Efficient Control of a Discrete Displacement Multi-Chamber Cylinder
[Energibesparende Kontrol af et Multikammer Cylinder med Digital Hydraulik]
Author(s)
Term
4. term
Education
Publication year
2023
Submitted on
2023-03-14
Pages
60 pages
Abstract
The purpose of this project was to model and control the angle of an excavator arm, which would use a discrete displacement multi- chambered cylinder as its actuator, i.e. a hydraulic cylinder which uses digital hydraulic valves rather than proportional valves. A simulink model of the system was created, and three PID controllers were designed to control the angle of the excavator arm. Additionally, since the system uses digital hydraulics, and thus can only use pre-set force configurations, a Force-Shifting Algorithm was developed to control the output of the digital valve setup. The main focus of the project was to investigate ways to increase the energy-efficiency of such a digital hydraulic system. Two methods were investigated: Changing the sampling time of the FSA, which would make it change between configurations less frequently, and implementing a locking mechanism, which would hold the arm in place, to prevent it from oscillating around its reference. The locking mechanism proved effective at reducing energy consumption, while the slower sampling time was found to actually increase the energy consumption of the system.
Keywords
Documents
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