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Long-Stroke Hydraulic Robot Motion Control With Incremental Nonlinear Dynamic Inversion

机译:具有增量非线性动态反转的长冲程液压机器人运动控制

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摘要

High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence of parameter uncertainties. Combined with a widely used force computation outer-loop controller, the proposed motion control structure is implemented on a 6-DOF hexapod hydraulic robot, the Simulation, Motion and Navigation (SIMONA) Research Simulator, TU Delft. The proposed control technique is inherently robust to hydraulic parameter uncertainties. As an important contribution, the robustness against parameter uncertainty is rigorously proven. Stability of the proposed controller is also analyzed. Techniques for solving characteristic implementation issues, such as higher-order valve dynamics and oil transmission effects, are discussed in detail. Motion tracking experiment results on the SIMONA simulator validate the effectiveness of the proposed method in terms of performance and the robustness against parameter uncertainties. Significant control accuracy improvement is demonstrated by comparing with the state-of-the-art motion control implementations.
机译:液压操纵器的高精度运动控制具有挑战性,这是因为液压执行器通常具有高度的非线性动力学和模型不确定性。本文针对存在参数不确定性的高精度液压控制器,提出了一种基于传感器的新型增量非线性动态逆控制技术的实现。结合广泛使用的力计算外环控制器,在六自由度六脚液压机器人仿真,运动和导航(SIMONA)研究模拟器TU Delft上实现了拟议的运动控制结构。所提出的控制技术对液压参数不确定性具有固有的鲁棒性。作为一项重要的贡献,严格证明了针对参数不确定性的鲁棒性。还分析了所提出的控制器的稳定性。详细讨论了解决特征性实现问题的技术,例如高阶气门动力学和油传输效果。 SIMONA仿真器上的运动跟踪实验结果证明了该方法在性能和针对参数不确定性的鲁棒性方面的有效性。通过与最新的运动控制实施方案进行比较,证明了控制精度的显着提高。

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