Relative Position Control in an Electro-Hydraulic Forklift


(*) Corresponding author


Authors' affiliations


DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)

Abstract


The purpose of this research is to utilize the excellent control capabilities of modern electric drives in electro-hydraulic systems such as forklifts, create direct drive position control for the forklift fork and verify the results by measurements. The drive consists of a Direct Torque Control (DTC) electric servo motor directly running a reversible hydraulic pump. The position of a hydraulic cylinder is controlled by a Permanent Magnet Synchronous Machine (PMSM) drive with a single feedback from motor rotor angle resolver. A fairly accurate lifting height sensorless control could be used e.g. as a base for a new automatic warehouse system. The system equipped with e.g. a simple proximity switch should be able to serve as an automated height control system for a warehouse.
Copyright © 2013 Praise Worthy Prize - All rights reserved.

Keywords


Permanent Magnet Machines; Energy Efficiency; Energy Recovery; Forklift; Electric Servo Drive; Hydraulics; Position Control; Potential Energy Regeneration (PERS)

Full Text:

PDF


References


T. Lin, Q. Wang, B. Hu, W. Gong, Development of hybrid powered hydraulic construction machinery. Journal Automation in construction. Vol. 19, Issue 1, January 2010, pp. 11–19.

L. Xiao, S.X. Pan, D.Y. Wang, Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator, Journal of Zhejiang University — Science A 5(2008) 624–632.

T. Minav, Electric energy recovery system for a hydraulic forklift, Master’s Thesis, Lappeenranta University of Technology: 70 pages, 2008.

J. M.Miller,Propulsion Systems for Hybrid Vehicles, IET, 2008.

G. Kunze, Mobile construction machinery - trends and new developments,ATZonline, [Internet], April 2010, [cited 10 January, 2011]. Available from: http: //www.atzonline.com.

Y. J. Beliveau, J. E. Fithian, M. P. Deisenroth, Autonomous vehicle navigation with real-time 3D laser based positioning for construction, Automation in Construction 5 (1996) 261-272, Volume 5, Issue 4, October 1996, Pages 261-272.

Real-time “Sense-and-Act” operation for construction robots, Automation in Construction 13 (2004) 751-764.

Rocla AVG forklift trucks,www.rocla.com.

Big things to come for AGVs, 15 January 2009, www. forkliftaction.com.

S. M.Veres, L. Molnar, N. K. Lincoln and C. P.Morice, Autonomous vehicle control systems — a review of decision making, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, March 1, 2011; vol. 225, 2: pp. 155-195.

H Durrant-Whyte, Autonomous land vehicles, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, February 1, 2005; vol. 219, 1: pp. 77-98.

T. O. Andersen, M. R. Hansen, H. C. Pedersen and F. Conrad, Regeneration of potential energy in hydraulic forklift truck. In Proceedings of the 6th International Conference on Fluid Power Transmission and Control, 2005, pp. 302–306, Hangzhou.

J. Pyrhönen, M. Niemela, J. Kaukonen, J. Luukko, O. Pyrhönen, Test results with the Direct Flux Linkage Control of Synchronous machines, Aerospace and Electronic Systems Magazine, IEEE, Vol. 4, pp. 23–27, Apr. 1998.

S. Hui, J. Junqing, Research on the system configuration and energy control strategy for parallel hydraulic hybrid loader, Journal Automation in Construction, Vol. 19, Issue 2, March 2010, pp. 213–220.

P. Achten, Convicted to Innovation in Fluid Power, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, September 1, 2010; vol. 224, 6: pp. 619-621.

D. Iannuzzi Improvement of the Energy Recovery of Traction electrical drives using supercapacitors. Proceedings of the 13th International Power Electronics and Motion Control Conference. 2008, Poznán, Poland.

Q. Xiao, Q.F. Wang, Y.T. Zhang, Control strategies of power system in hybrid hydraulic excavator. Journal Automation in Construction. Vol. 17, Issue 4, May 2008, pp. 361–367.

D. Wang, C. Guan, S. Pan, M. Zhang, X. Lin, Performance analysis of hydraulic excavator powertrain hybridization. Journal Automation in Construction, Vol. 18, Issue 3, May 2009, pp. 249–257.

T. Minav, L. Laurila, P. Immonen, J. Pyrhönen, V.Vtorov and M. Niemelä, Electric energy recovery system for a hydraulic forklift – theoretical and experimental evaluation, IET Electric Power Applications, Vol. 5, issue 4, April 2011.

T. Lin,Q.Wang, B. Hu, W. Gong, Research on the energy regeneration systems for hydraulic excavators. Journal Automation in construction. Vol.19, Issue 8, December 2010, pp. 1016–1026.

H. Yang, W. Sun, B. Xu, New Investigation in Energy Regeneration of Hydraulic Elevators, IEEE/ASME Transactions on Mechatronics Journal , Vol. 12, NO. 5, October 2007, pp. 519–526.

H. Inoue, Introduction of PC200-8 Hybrid Hydraulic Excavators. 2008 [Internet], November2010.Available from:http://www.komatsu.com/CompanyInfo/profile/report/pdf/161-E-05.pdf.

T. Minav, L. Laurila, J. Pyrhönen, Energy Recovery Efficiency Comparison in anElectro-hydraulic Forklift and in a Diesel Hybrid Heavy Forwarder. Proceedings of the Power Electronics Electrical Drives Automation and Motion symposium (SPEEDAM) 2010. Pisa, Italy.

S-H. Park, J-M. Lee and J-S. Kim, Robust control of the pressure in a control-cylinder with direct drive valve for the variable displacement axial piston pump,Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, June 1, 2009; vol. 223, 4: pp. 455-465.

T.A. Minav, P.A. Immonen, J.J. Pyrhönen, L.I.E Laurila, Effect of PMSM Sizing on the Energy Efficiency of an Electro-Hydraulic Forklift. Proceedings of the IX International Conference on Electrical Machines 2010, Rome, Italy.

H-W. Wu and C-B. Lee, Self-Tuning Adaptive Speed Control of a Pump/Inverter-Controlled Hydraulic Motor System, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, May 1995; vol. 209, 2: pp. 101-114.

T. Minav, L. Laurila, J. Pyrhönen, V. Vtorov, Direct pump control effects on the energy efficiency in an electro-hydraulic lifting system, (2011) International Review of Automatic Control (IREACO), 4 (2), pp. 235-242.

T. Minav, L. Laurila, J. Pyrhönen, Permanent Magnet Synchronous Machine Sizing: Effect on the Energy Efficiency of an Electro-hydraulic Forklift, 2011, Transactions on Industrial Electronics, in press.

T. Minav, Electric-drive-based control and electric energy regeneration in a hydraulic system. Doctoral thesis, ActaUniversitatis Lappeenrantaensis 436, 2011, Lappeenranta University of Technology, Finland.

SEW Drive Engineering-Practical Implementation, [Internet], [cited 10 January, 2011]. Available from: http://www.sew-eurodrive.com.

ABB: Motion Control program Firmware, 2007. [Internet], [cited 10 January, 2011]. Available from: http://www.abb.com.

Parker, Hydraulic Motor/pump series F11/F12, 2007, [Internet], [cited 10 January, 2011]. Available from: http://www.parker.com

H. Handroos, Ph.D. course lecture material, Modelling and simulation of mechatronic machines, 2010.

S. R. Majumdar, Oil Hydraulic Systems principles and maintenance, McGraw-Hill, New-York, 2002.

T. Minav, D. Filatov, L. Laurila, J. Pyrhönen,V. Vtorov, Modelling of an electro-hydraulic forklift in Matlab Simulink. (2011) International Review on Modelling and Simulations (IREMOS), 4 (2), pp. 640-647.


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize