Compensation control of hydraulic manipulator under pressure shock disturbance

被引：6
|
作者：
Sun, Yao [1 ,2 ]
Wan, Yi [1 ,3 ]
Ma, Haifeng [1 ,2 ]
Liang, Xichang [1 ,2 ]
机构：
[1] Shandong Univ, Sch Mech Engn, Jinan 250061, Peoples R China
[2] Shandong Univ, Key Lab High Efficiency & Clean Mech Manufacture, Minist Educ, Jinan 250061, Peoples R China
[3] Shandong Univ, Natl Demonstrat Ctr Expt Mech Engn Educ, Jinan 250061, Peoples R China
来源：
NONLINEAR DYNAMICS | 2023年 / 111卷 / 12期
基金：
中国国家自然科学基金;
关键词：
Hydraulic manipulator; Pressure shock; Compensation controller; Disturbance rejection; TRACKING CONTROL; ROBUST-CONTROL; NONLINEAR CONTROL; PRECISION CONTROL; FEEDBACK; SYSTEMS; REDUCTION;
D O I：
10.1007/s11071-023-08425-7
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This study aims to develop an advanced controller for high-accuracy tracking control of hydraulic manipulators. The primary technical challenges identified in previous research are friction, leakage, external disturbance, and modelling uncertainties. However, this study for the first time discovers that pressure shock disturbance generated by the supply pump significantly impairs the tracking performance of the hydraulic robotic arm. To address these issues, a shock disturbance compensation controller (SDCC) based on backstepping is proposed in this research. A newly developed adaptive controller and compensation controller are used to handling uncertainties and pressure shock disturbance in the hydraulic system, respectively. The controller theoretically guarantees the asymptotic tracking performance of the hydraulic manipulator under uncertainties and mixed disturbances. Extensive comparative experimental results showthat the addition of SDCC reduces the maximum tracking error and variance of PID by an average of 68.7% and 68.55%, respectively.
引用
收藏
页码：11153 / 11169
页数：17
相关论文
共 50 条
  • [21] Extended-state-observer-based pressure compensation anti-disturbance control method for hydraulic secondary regulation system
    Wang, Zhenyu
    Liu, Xiaochao
    Mou, Quanrun
    Qiu, Zhongyi
    Nie, Rui
    Jiao, Zongxia
    NONLINEAR DYNAMICS, 2024, : 9931 - 9948
  • [22] Enhanced Friction and Disturbance Compensation-Based Trajectory Tracking Control for Flexible Manipulator System
    Wang, Junxiao
    Yan, Xiaodong
    Yu, Li
    IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN INDUSTRIAL ELECTRONICS, 2024, 5 (03): : 1322 - 1332
  • [23] Adaptive neural network backstepping control method for aerial manipulator based on coupling disturbance compensation
    Li, Hai
    Li, Zhan
    Liu, Jiayu
    Zheng, Xiaolong
    Yu, Xinghu
    Kaynak, Okyay
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2024, 361 (07):
  • [24] Rotation and Gate Movement Compound Control of Screw Conveyor Hydraulic System with Disturbance Compensation
    Wang, Lintao
    Gong, Guofang
    Shi, Hu
    Liu, Huaiyin
    INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, 2010, 6424 : 329 - 340
  • [25] Nonlinear Robust Motion Control of Hydraulic Servo System with Matched and Mismatched Disturbance Compensation
    Li Xudong
    Chen Xiong
    Yao Jianyong
    Xu Jinsheng
    Zhou Changsheng
    PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 1686 - 1691
  • [26] Compensation of Pressure Dependent Disturbance: Poppet Position Control in a Pneumatic Valve
    Hattori, Koki
    Ohnishi, Wataru
    Koseki, Takafumi
    2024 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM 2024, 2024, : 51 - 56
  • [27] Anti-sway control of marine cranes under the disturbance of a parallel manipulator
    Ayman A. Elbadawy
    Mina M. G. Shehata
    Nonlinear Dynamics, 2015, 82 : 415 - 434
  • [28] Anti-sway control of marine cranes under the disturbance of a parallel manipulator
    El-Badawy, Ayman A.
    Shehata, Mina Maged George
    2014 INTERNATIONAL CONFERENCE ON ENGINEERING AND TECHNOLOGY (ICET), 2014,
  • [29] Anti-sway control of marine cranes under the disturbance of a parallel manipulator
    Elbadawy, Ayman A.
    Shehata, Mina M. G.
    NONLINEAR DYNAMICS, 2015, 82 (1-2) : 415 - 434
  • [30] Nonlinear control of a hydraulic parallel manipulator
    Sirouspour, MR
    Salcudean, SE
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 3760 - 3765
12345