Motors: expansible chamber type – Working member position feedback to motive fluid control – Electrical input and feedback signal means
Patent
1998-10-14
1999-09-21
Nguyen, Hoang
Motors: expansible chamber type
Working member position feedback to motive fluid control
Electrical input and feedback signal means
60421, 60426, 60427, F15B 1316, F16D 3102
Patent
active
059539771
ABSTRACT:
In order to accomplish many tasks of a machine efficiently, a motion planning system predetermines the response of the machine to a given set of motion commands. With two or more actuators being driven by a single hydraulic pump, there may not be adequate hydraulic pressure to drive both of the actuators at the speed requested. In order to determine the non-linear response of the actuators and the optimal combination of motions of the moving parts driven by the actuators, a controller for the machine is modeled as a linear dynamic system. The non-linear response of the actuators is modeled using a look-up table that is a function of internal variables of the machine's actuators and hydraulic system. The number of input, or independent, variables that are supplied to the table look-up functions is proportional to the number of actuators being driven by a single pump. Sensors provide data regarding the internal state of each actuator including variables such as spool valve position and cylinder force. These variables are used to index into tables containing data that represents each actuator's constraint surface. The constraint surfaces are predetermined and are dependent on the state of the other actuators driven by the same pump.
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Krishna Murali
Lunzman Stephen V.
Carnegie Mellon University
Nguyen Hoang
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