Robust controller design for the excavator swing system under the active regulating common pressure rail

Abstract

In this paper, a new kind of rule called Active Regulating Common Pressure Rail (ARCPR) for hydraulic system is presented. Especially, the main focus is to improve the control performance for the swing hydraulic system with the parametric uncertainties and time delay effect caused by employing ARCPR. Firstly, the traditional CPR is introduced and the energy saving potential is analyzed. Then, the mathematical model of the displacement regulating system and swing driving system is presented. Moreover, the displacement regulating system model is simplified by considering the parametric uncertainties and time delay condition. Furthermore, a robust controller is designed to meet the system requirements. Finally, a simulation based on standard working condition is conducted and the result shows the control performance can meet the practical requirement well.