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Introducing distributed control in mobile machines based on hydraulic actuators
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Embedded Systems. (Embedded control systems)ORCID iD: 0000-0002-4300-885X
1994 (English)In: Mechatronics (Oxford), ISSN 0957-4158, Vol. 4, no 2, 51-72 p.Article in journal (Refereed) Published
Abstract [en]

The design of mobile machines demanding outspread hydraulic systems involves at least two major trade-offs, regarding the distribution and configuration of hydraulic components and the degree of distributed computer control within the machines. As a case study the “NODDATOR” project is described, in which a distributed control approach utilizing the Controller Area Network was applied to control a hydraulic application, a drill arm - boom - on a tunnelling machine. Practical experience in the project and advantages of the technique compared with the technique used today - a more or less strict implementation of a central control system - are pointed out. Further, the benefits which can be obtained by fully exploiting the possibilities of hydraulic distribution and distributed computer control, i.e. reduced cabling and cost, increased functionality and modularity are discussed. Among the new problems that arise, the multidisciplinarity of the technique and reliability issues are the most difficult ones. Reliability is a very relevant area for mechatronics where more research is needed as computer control systems increasingly replace mechanical solutions. The conclusion of the article is clear: Machines based on distributed technology are clearly the winners compared to current machines.

Place, publisher, year, edition, pages
Elsevier, 1994. Vol. 4, no 2, 51-72 p.
Keyword [en]
Distributed control; distributed machine control; distributed control in mechatronic applications; decentralized control
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-86893DOI: 10.1016/0957-4158(94)90040-XOAI: diva2:501162
NR 20140805Available from: 2012-02-13 Created: 2012-02-13Bibliographically approved

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