IOP Conference Series: Materials Science and Engineering
The paper discusses the construction of a car driving simulator prototype. The basic design assum... more The paper discusses the construction of a car driving simulator prototype. The basic design assumptions for the mechanical structure of the simulator platform as well as the drives and control system are presented. A solid model of the device was presented and a solution to its kinematics was proposed to determine the stroke of the driving cylinders as a function of the angular displacement of its members. The issues related to virtual prototyping to determine the trajectory of movement and dynamic quantities characterizing the simulator were presented. The construction of the control system with the use of a dedicated computer control card is discussed. Such a solution enables testing the functions of the simulator control system before its connection with the real simulator. At the same time, the design process has been significantly improved and accelerated.
2019 20th International Carpathian Control Conference (ICCC)
Modern integrated electro-hydraulic servo-drives due to the complex integration of the hydraulic ... more Modern integrated electro-hydraulic servo-drives due to the complex integration of the hydraulic actuator, control valve, controller and sensors put high demands on their design and optimization. The integrated electro-hydraulic servo-drive (IEHSD) consists of a hydraulic actuator with position and force sensors. The hydraulic actuator (HA) is directly connected to a 4/3-way high response proportional directional control valve (4WRSE) with integrated axis controller (IAC). Integrated electro-hydraulic servo drives enable separate control of position, force and speed, combined force and position control, as well as control of motion synchronization of multiple drives. By synchronized motion control of integrated electro-hydraulic servo-drives, the trajectory tracking control of multi-axis manipulators with parallel structures is realized.
IOP Conference Series: Materials Science and Engineering
The study proposes the use of a semi-active hydro-pneumatic spring damper unit for damping pressu... more The study proposes the use of a semi-active hydro-pneumatic spring damper unit for damping pressure pulsations in the servohydraulic leveling system of an electrohydraulic self-leveling unit of a tracked platform of a robotic bricklaying combine (RBC). The semi-active hydro-pneumatic spring damper unit consisted of a gas spring in the hydro-pneumatic accumulator and a controlled hydraulic damping valve. A model of a hydro-pneumatic accumulator with a connection tube was presented, using lumped hydraulic elements in the form of resistance, inductance, and capacitance (RLC). This model was transformed into a form of frequency impedance, from which the amplitude and phase characteristics were determined. The complex impedance of the throttle valve was determined, in which the real part is resistance and the imaginary part is reactance. Finally, the damping performance characteristics of a semi-active hydro-pneumatic spring damper unit were analyzed.
Advances in Intelligent Systems and Computing, 2015
The paper deals with a cross-coupled control approach to the spatial 3-DoF hydraulic translationa... more The paper deals with a cross-coupled control approach to the spatial 3-DoF hydraulic translational parallel manipulator. The control system of the cross-coupling control (CCC) has been proposed in order to reduce the contour error for three electro-hydraulic axes. Control of the manipulator takes into account not only the position errors for each drive axis but also synchronization errors of neighboring axes. Cascade control system with inner and outer loop was proposed. Decentralized tracking system allows to adjust the trajectory of disturbances in the internal loops it is based on the defined synchronization of errors for each axis drive. There was specified the synchronization function for the control system which takes account of the errors positioning of each axis. The experiments were performed on a prototype parallel manipulator (3-DoF). The prototype hydraulic manipulator consists of a fixed base and a moving platform, that are connected by the joints with three hydraulic linear axes. They demonstrated improvement in the positioning accuracy of the movement of end effector manipulator. The aim of the research was to examine the effectiveness of synchronous control method with a simplified structure of the control system for the electro-hydraulic manipulator both theoretically and experimentally.
IOP Conference Series: Materials Science and Engineering
The paper discusses the construction of a car driving simulator prototype. The basic design assum... more The paper discusses the construction of a car driving simulator prototype. The basic design assumptions for the mechanical structure of the simulator platform as well as the drives and control system are presented. A solid model of the device was presented and a solution to its kinematics was proposed to determine the stroke of the driving cylinders as a function of the angular displacement of its members. The issues related to virtual prototyping to determine the trajectory of movement and dynamic quantities characterizing the simulator were presented. The construction of the control system with the use of a dedicated computer control card is discussed. Such a solution enables testing the functions of the simulator control system before its connection with the real simulator. At the same time, the design process has been significantly improved and accelerated.
2019 20th International Carpathian Control Conference (ICCC)
Modern integrated electro-hydraulic servo-drives due to the complex integration of the hydraulic ... more Modern integrated electro-hydraulic servo-drives due to the complex integration of the hydraulic actuator, control valve, controller and sensors put high demands on their design and optimization. The integrated electro-hydraulic servo-drive (IEHSD) consists of a hydraulic actuator with position and force sensors. The hydraulic actuator (HA) is directly connected to a 4/3-way high response proportional directional control valve (4WRSE) with integrated axis controller (IAC). Integrated electro-hydraulic servo drives enable separate control of position, force and speed, combined force and position control, as well as control of motion synchronization of multiple drives. By synchronized motion control of integrated electro-hydraulic servo-drives, the trajectory tracking control of multi-axis manipulators with parallel structures is realized.
IOP Conference Series: Materials Science and Engineering
The study proposes the use of a semi-active hydro-pneumatic spring damper unit for damping pressu... more The study proposes the use of a semi-active hydro-pneumatic spring damper unit for damping pressure pulsations in the servohydraulic leveling system of an electrohydraulic self-leveling unit of a tracked platform of a robotic bricklaying combine (RBC). The semi-active hydro-pneumatic spring damper unit consisted of a gas spring in the hydro-pneumatic accumulator and a controlled hydraulic damping valve. A model of a hydro-pneumatic accumulator with a connection tube was presented, using lumped hydraulic elements in the form of resistance, inductance, and capacitance (RLC). This model was transformed into a form of frequency impedance, from which the amplitude and phase characteristics were determined. The complex impedance of the throttle valve was determined, in which the real part is resistance and the imaginary part is reactance. Finally, the damping performance characteristics of a semi-active hydro-pneumatic spring damper unit were analyzed.
Advances in Intelligent Systems and Computing, 2015
The paper deals with a cross-coupled control approach to the spatial 3-DoF hydraulic translationa... more The paper deals with a cross-coupled control approach to the spatial 3-DoF hydraulic translational parallel manipulator. The control system of the cross-coupling control (CCC) has been proposed in order to reduce the contour error for three electro-hydraulic axes. Control of the manipulator takes into account not only the position errors for each drive axis but also synchronization errors of neighboring axes. Cascade control system with inner and outer loop was proposed. Decentralized tracking system allows to adjust the trajectory of disturbances in the internal loops it is based on the defined synchronization of errors for each axis drive. There was specified the synchronization function for the control system which takes account of the errors positioning of each axis. The experiments were performed on a prototype parallel manipulator (3-DoF). The prototype hydraulic manipulator consists of a fixed base and a moving platform, that are connected by the joints with three hydraulic linear axes. They demonstrated improvement in the positioning accuracy of the movement of end effector manipulator. The aim of the research was to examine the effectiveness of synchronous control method with a simplified structure of the control system for the electro-hydraulic manipulator both theoretically and experimentally.
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