Model-based Control of the Hydraulic Manipulator for the High-precision Trajectory Tracking

被引：0
|
作者：
Ding R. [1 ,2 ]
Wang Z. [1 ]
Cheng M. [3 ]
Xu B. [2 ]
Liu Z. [1 ]
机构：
[1] Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang
[2] State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou
[3] State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2023年 / 59卷 / 14期
关键词：
dynamic model; feedforward flow compensation; hydraulic manipulator; model-based control; parameter identification;
D O I：
10.3901/JME.2023.14.298
中图分类号：
学科分类号：
摘要：
The hydraulic manipulator has high non-linear dynamic characteristics, causing large errors of end-effector trajectory tracking. A model-based control algorithm (Model-based control, MBC) with dynamic parameters identification was proposed for high-precision end-effector trajectory tracking of the hydraulic manipulator. The control algorithm was composed of three output parts: the hydraulic cylinder position feedback controller of the outer loop, the force controller of the inner loop and the feedforward flow compensation controller. The force controller fully considered the dynamics model of the hydraulic manipulator and compensated for the influence of inertial force, gravity force, and friction force on the control accuracy. The position controller is used to eliminate the force deviation caused by hydraulic actuators. The feedforward flow compensator calculates the flow compensation amount according to the dynamic model of the hydraulic actuator to improve the control response and accuracy. The least-square parameter identification method was adopted to solve the problem of inaccurate parameters in the dynamics model, and the accurate dynamic parameters of the hydraulic manipulator were captured under the excitation trajectory. The experimental results show that the proposed MBC control algorithm for identifying dynamic parameters improves the tracking accuracy of motion position in free space by 39.24% compared with the MBC control with 3D model parameters, and increases the tracking accuracy by 93% compared with the traditional PID control, which significantly improves the trajectory tracking accuracy. © 2023 Chinese Mechanical Engineering Society. All rights reserved.
引用
收藏
页码：298 / 309
页数：11
相关论文
共 25 条
  • [1] ZHENG S, DING R, ZHANG J，, Et al., Global energy efficiency improvement of redundant hydraulic manipulator with dynamic programming[J], Energy Conversion and Management, 230, (2021)
  • [2] LI I H, CHIANG H H, LEE L W., Development of a linear delta robot with three horizontal-axial pneumatic actuators for 3-dof trajectory tracking [J], Applied Sciences, 10, 10, (2020)
  • [3] REGINALD N, SEO J, CHA M., Integrative tracking control strategy for robotic excavation [J], International Journal of Control，Automation and Systems, 19, 10, pp. 3435-3450, (2021)
  • [4] HOANG Q D, ROSAS-CERVANTES V A, LEE S G, Et al., Robust finite-time convergence control mechanism for high-precision tracking in a hybrid fluid power actuator [J], IEEE Access, 8, pp. 196775-196789, (2020)
  • [5] KADU C, Et al., Design，analysis and motion control of hydraulic excavator using discrete sliding mode control with inertial delay[C], 2021 7th International Conference on Advanced Computing and Communication Systems (ICACCS), pp. 255-260, (2021)
  • [6] HELIAN B, CHEN Z, YAO B., Energy-saving and accurate motion control of a hydraulic actuator with uncertain negative loads[J], Chinese Journal of Aeronautics, 34, 5, pp. 253-264, (2021)
  • [7] SUN X, YAO J, DENG W., Active disturbance rejection adaptive control of multi-degrees of freedom hydraulic manipulators[J], International Journal of Adaptive Control and Signal Processing, 36, 11, pp. 2880-2902, (2022)
  • [8] CUI Y, LIU S，, ZHOU D, Et al., Position tracking and dynamic control of an innovative anchor beam supporting robot[J], Mechanics Based Design of Structures and Machines, 51, 2, pp. 721-739, (2020)
  • [9] KIM S W, CHO B, SHIN S，, Et al., Force control of a hydraulic actuator with a neural network inverse model [J], IEEE Robotics and Automation Letters, 6, 2, pp. 2814-2821, (2021)
  • [10] DO T C，, TRAN D T, DINH T Q，, Et al., Tracking control for an electro-hydraulic rotary actuator using fractional order fuzzy PID controller[J], Electronics, 9, 6, (2020)
123