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Title: Control method and system for hydraulic machines employing a dynamic joint motion model

Abstract

A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

Inventors:
 [1]
  1. Reno, NV
Issue Date:
Research Org.:
Board of Regents of the Nevada System of Higher Education, on Behalf of the University of Nevada, Reno (Reno, NV)
Sponsoring Org.:
USDOE
OSTI Identifier:
1032713
Patent Number(s):
8065037
Assignee:
Board of Regents of the Nevada System of Higher Education, on Behalf of the University of Nevada, Reno (Reno, NV)
Patent Classifications (CPCs):
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
DOE Contract Number:  
FC26-04NT42087
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Danko, George. Control method and system for hydraulic machines employing a dynamic joint motion model. United States: N. p., 2011. Web.
Danko, George. Control method and system for hydraulic machines employing a dynamic joint motion model. United States.
Danko, George. Tue . "Control method and system for hydraulic machines employing a dynamic joint motion model". United States. https://www.osti.gov/servlets/purl/1032713.
@article{osti_1032713,
title = {Control method and system for hydraulic machines employing a dynamic joint motion model},
author = {Danko, George},
abstractNote = {A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2011},
month = {11}
}

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Works referenced in this record:

Generating Particle Beams of Controlled Dimensions and Divergence: I. Theory of Particle Motion in Aerodynamic Lenses and Nozzle Expansions
journal, January 1995