Jani E. Heikkinen

Self-tuning parameter fuzzy PID controller for autonomous differential drive mobile robot

The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-tuning-parameter fuzzy PID controller is designed to control the rotation speed of the motors independently in order to achieve a straight trajectory of the motion despite the motor differences. Simulation of the robot drive system is carried out in a Matlab/Simulink environment. Simulations were used to evaluate performance of the fuzzy self-tuning parameter PID controllers in the time domain. Conclusions are drawn concerning the performance of the controller. Furthermore, expected challenges for the future development are discussed.

Adaptive Control for Direct-Driven Hydraulic Drive

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Fuzzy control of direct-driven hydraulic drive without conventional oil tank

The direct-driven hydraulic drive (DDH) combines the advantages of compact high power of the hydraulic system and flexible control of the electric motor. This paper concentrates on modelling of the direct-driven hydraulic setup and investigating control challenges. In the DDH setup, the speed and position control of a double-acting cylinder is implemented directly with a Synchronous Torque Motor drive in a close-loop system without conventional valve-control. In addition to this, hydraulic accumulator is employed as a replacement of the conventional oil tank. To achieve excellent control capabilities, a fuzzy controller is designed to control the rotation speed of the motor drive. The system is investigated by means of simulations. As a result, designed controller benefits the hydraulic system.

A control strategy for an autonomous differential drive mobile robot

The purpose of this research is to develop a control strategy for a differential drive autonomous mobile robot. The robotic task is to move in a straight trajectory in the workspace despite powered by two non-identical electric motors. A developed controller was designed to control the rotational speed of the motors independently in order to achieve a straight trajectory of the motion despite the motor differences. In order to fulfil control limitations, a trajectory control strategy with an inertial measurement unit (IMU) is proposed. This leads to the creation of a Matlab/Simulink model of the robot drive system and IMU, which takes into consideration the mechanical constraints of the robot. In this study, simulations were utilized to evaluate performance of the developed controller in the time domain. The usefulness and effectiveness of the developed control strategy is confirmed by simulation. Simulation results demonstrated that the speeds of the motors can be matched quite well, and difference between the achieved and a straight-line trajectory was within a few centimeters. Furthermore, expected challenges are discussed for the future development.

Electric-driven Zonal Hydraulics in Non-Road Mobile Machinery

The goal of this research is to apply direct-driven hydraulics (DDH) to the concept of zo‐ nal (i.e., locally and operation-focused) hydraulics, which is an essential step in the hy‐ bridization and automation of machines. DDH itself aims to combine the best properties of electric and hydraulic technologies and will lead to increased productivity, minimized energy consumption and higher robust performance in both stationary and mobile ma‐ chines operating in various environments. In the proposed setup, the speed and position control of a double-acting cylinder is implemented directly with an electric motor drive in a closed-loop system without conventional control valves and an oil tank. The selection of the location of the hydraulic accumulator and connection of the external leakage lines will also be part of this study. Simulations and experimental research to study the details of the hydromechanical and electrical realization of the DDH are performed.

Electric Motor Based Hydraulic Pump Emulator in Real-Time HIL-Simulation: Finding the Optimum Emulator Electric Motor

Hardware-in-the-loop (HIL) setups are widely used in research, since they allow us fast and accurate testing under realistic conditions and easy repeatability. In this paper a HIL-setup is used to emulate the behavior of a hydraulic pump with an electric motor/generator. The setup contained a real-time simulator (RTS), two electric motors and two frequency converters. A real-time simulator was used for simulating the hydraulic and mechanical parts of the hydraulic machine. In previous study, it was shown that a virtual model of a hydraulic machine in a HIL setup can be used for testing by emulating the hydraulic pump with an electric motor. As the built setup did not fulfill requirements, new components for this kind of HIL setup are needed to be chosen carefully: optimized for data transfer speed, low latency and suitable refresh rates. In this research an attempt to find the optimum electric motor parameters, for the emulation purpose of a hydraulic pump was made. The parameters should be chosen based on refresh rate of the motor and initial analysis to narrow down the choices.Copyright