Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Design of a Pressure Feedback Controller for Hydraulic Excavator Pilot System with EPPRVs

EPPRV 적용 굴착기 파일롯 시스템 압력 피드백 제어기 설계

  • Seungjin Yoo (Department of Industrial Machine DX, Korea Institute of Machinery and Materials) ;
  • Cheol-Gyu Park (Advanced Mechatronics R&D Group, Korea Institute of Industrial Technology) ;
  • Seung-Han You (School of Mechanical Engineering, Korea University of Technology and Education)
  • 유승진 ;
  • 박철규 ;
  • 유승한
  • Received : 2024.06.25
  • Accepted : 2024.08.21
  • Published : 2024.09.01
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Abstract

Many modern hydraulic excavators now use EPPRVs (Electronic Proportional Pressure Reducing Valves) in their pilot systems to control the spool displacement of the main hydraulic system. However, the performance of these systems is often limited by factors such as magnetic hysteresis, mechanical wear, and transient responses influenced by operating conditions and component installation. This paper presents a pressure feedback controller for excavator pilot systems that utilize EPPRVs. This controller significantly reduces steady-state pressure control errors and mitigates the hysteresis effects commonly seen in traditional open-loop systems. To achieve this, we integrated EPPRVs with the main hydraulic valve and injected a chirp signal into the solenoid current. By doing so, we were able to measure the frequency response of the pilot system across different operating pressures and estimate the system dynamics model. Using these models, we designed a set of PI pressure feedback controllers that are guaranteed to be stable. These controllers were then integrated with a gain scheduler based on a lookup table. Experimental results demonstrate that when the developed pressure feedback controller is incorporated into the conventional open-loop controller, it effectively reduces steady-state pressure control errors and mitigates hysteresis.

Keywords

Acknowledgement

이 연구는 2024년도 산업통상자원부의 연구비 (과제번호: 20018414) 의 지원에 의하여 수행되었음을 밝힙니다.

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