Invention Grant
US08065037B2 Control method and system for hydraulic machines employing a dynamic joint motion model
有权
采用动态关节运动模型的液压机控制方法和系统
- Patent Title: Control method and system for hydraulic machines employing a dynamic joint motion model
- Patent Title (中): 采用动态关节运动模型的液压机控制方法和系统
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Application No.: US12188035Application Date: 2008-08-07
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Publication No.: US08065037B2Publication Date: 2011-11-22
- Inventor: George Danko
- Applicant: George Danko
- Applicant Address: US NV Reno
- Assignee: Board of Regents of the Nevada System of Higher Education, on Behalf of the University of Nevada, Reno
- Current Assignee: Board of Regents of the Nevada System of Higher Education, on Behalf of the University of Nevada, Reno
- Current Assignee Address: US NV Reno
- Agency: UNR-DRI Technology Transfer Office
- Agent Ryan A. Heck
- Main IPC: G05B19/18
- IPC: G05B19/18

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.
Public/Granted literature
- US20090204259A1 CONTROL METHOD AND SYSTEM FOR HYDRAULIC MACHINES EMPLOYING A DYNAMIC JOINT MOTION MODEL Public/Granted day:2009-08-13
Information query
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