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Bilateral Control Between Electric and Hydraulic Actuators Using Linearization of Hydraulic Actuators

机译:电动执行器和液压执行器之间的双向控制,使用液压执行器线性化

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摘要

In this study, bilateral control between electric and hydraulic actuators is investigated. Bilateral control realizes telemanipulation of remote robots with the sense of touch. We focus on the system of local (master) robots, manipulated by operators that are driven by electric actuators, and slave robots, which work in remote places that are driven by hydraulic actuators. To obtain bilateral control in this situation, we find that combination of three key techniques is necessary. The first key is oblique coordinate control, which can decouple position and force controllers of bilateral control. The second key is linearization of hydraulic actuators as third-order systems including oil compression by using disturbance observers. In the absence of linearization, the design becomes practically impossible because of the need to apply complicated models. Since the master robots are second-order systems, and the slave robots are linearized as third-order systems, oblique coordinate control cannot be implemented. Then, the last key is the agreement of system order of electric and hydraulic actuators by using a pseudodifferentiator. Two conventional controllers and the proposed method are experimentally and analytically compared. The proposed method shows the best tracking performance and is the most stable in contact control among the three controllers.
机译:在这项研究中,电动和液压执行器之间的双边控制进行了研究。双向控制实现了具有触摸感的远程机器人的遥控操作。我们专注于由电动执行器驱动的操作员操纵的本地(主)机器人系统和在液压执行器驱动的偏远地区工作的从属机器人系统。为了在这种情况下获得双边控制,我们发现必须结合使用三种关键技术。第一个键是斜坐标控制,它可以使双向控制的位置和力控制器脱钩。第二个关键是通过使用扰动观测器将液压执行器线性化为包括油压缩在内的三阶系统。在没有线性化的情况下,由于需要应用复杂的模型,因此设计实际上变得不可能。由于主机器人是二阶系统,而从机器人则是线性化为三阶系统,因此无法实现斜坐标控制。然后,最后一个关键是通过使用伪微分器实现电动和液压执行器的系统顺序一致。通过实验和分析比较了两种常规控制器和提出的方法。所提出的方法表现出最好的跟踪性能,并且在三个控制器之间的接触控制中最稳定。

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