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
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