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Development and Control of an Electro-Hydraulic Actuator for Off-Road Mobile Machines

Enrico Zanda

Development and Control of an Electro-Hydraulic Actuator for Off-Road Mobile Machines.

Rel. Luigi Mazza, Andrea Vacca, Jacopo Sini. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2021

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This thesis presents the dynamic design and control of a novel electro-hydraulic actuator (EHA) for mobile applications; based on displacement control (direct connection between pump and cylinder) and a bypass valve used to achieve precise low-velocity actuation. A state-of-the-art study among the different hydraulic actuation systems enlightened the advantages of the EHA in terms of energy losses and regeneration capability. Together with the differences in terms of dynamic behavior that such a unique configuration leads. A functional prototype early developed at MAHA Fluid Power Lab was used as a reference. A detailed analysis of the constitutive hydraulic components resulted in a complete digital model of the overall system. This model was then used as a reference to test the first controls and the relative software implementation through model-based software design. The validated software was then implemented in the controller (compactRIO) and tested on the real EHA with a simulated load. A further study, including the reference machine dynamics (a Case TV380 skid steer), was then conducted by simulation. A linearization of the complete system in different operating conditions was performed. The relevant dynamic parameters were identified, and their uncertainty was considered. Finally, different control strategies were adopted, to guarantee good velocity reference tracking, good disturbance rejection, and unwanted oscillation damping.

Relators: Luigi Mazza, Andrea Vacca, Jacopo Sini
Academic year: 2020/21
Publication type: Electronic
Number of Pages: 76
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Ente in cotutela: Maha Fluid Power Research Center at Purdue University (STATI UNITI D'AMERICA)
Aziende collaboratrici: Purdue University
URI: http://webthesis.biblio.polito.it/id/eprint/18060
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