An Adaptive Robust Controller for Hydraulic Robotic Manipulators with a Flow-Mapping Compensator

Authors

  • Fu Zhang State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China https://orcid.org/0000-0002-6248-1570
  • Junhui Zhang State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
  • Bing Xu State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
  • Huaizhi Zong State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

DOI:

https://doi.org/10.13052/ijfp1439-9776.2225

Keywords:

Hydraulic manipulators, nonlinear control, motion control.

Abstract

Proportional directional control valves have flexible control functions for the control of various hydraulic manipulators. It is foreseeable that the application of proportional directional control valves will be further expanded. However, due to its own structure, its important parameter, flow gain, is complex, and it has a complex functional relationship with valve opening and temperature. The variable flow gain reduces the performance of a strictly derived nonlinear controller. Therefore, it is necessary to consider the nonlinearity of flow gain in the controller design. In order to solve the above problems, this paper proposes an adaptive robust controller for a hydraulic manipulator with a flow-mapping compensator, which takes into account the nonlinear flow gain and improves the performance of the nonlinear controller. First, we established an adaptive robust controller of the hydraulic manipulator to obtain the load flow of the control input valve. Then, the function of flow gain, input voltage, and temperature are calibrated offline using cubic polynomial, and the flow-mapping compensator is obtained. Finally, we calculate the input voltage based on the flow-mapping compensator and load flow. The flow-mapping compensator further reduces the uncertainty of the model and improves the robustness of the system. By using the proposed controller, the control accuracy of the hydraulic manipulator is significantly improved.

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Author Biographies

Fu Zhang, State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

Fu Zhang received the B.Eng. degree from Jilin University, Changchun, China, in 2018. He is currently working toward the Ph.D. degree in the College of Mechanical Engineering, Zhejiang University, Hangzhou, China. His research interests include hydraulic robots and trajectory planning.

Junhui Zhang, State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

Junhui Zhang received the B.S. degree in 2007 and the Ph.D. degree in 2012, both from Zhejiang University, Hangzhou, China.

He is currently a researcher at the Institute of Mechatronics and Control Engineering, Zhejiang University. His research interests include high-speed hydraulic pumps/motors, hydraulic robots. He published more than 40 papers indexed by SCI, and applied more than 20 National Invention Patents with 18 granted. He is supported by. the National Science Fund for Excellent Young Scholars. He is a technical editor of IEEE/ASME Trans Mechatron.

Bing Xu, State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

Bing Xu received the Ph.D. degree in fluid power transmission and control from Zhejiang University, Hangzhou, China, in 2001.

He is currently a Professor and a Doctoral Tutor in the Institute of Mechatronic Control Engineering, and the Director of the State Key Laboratory of Fluid Power and Mechatronic systems, Zhejiang University. He has authored or coauthored more than 200 journal and conference papers and authorized 49 patents. Prof. Xu is a Chair Professor of the Yangtze River Scholars Programme, and a science and technology innovation leader of the Ten Thousand Talent Programme.

Huaizhi Zong, State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

Huaizhi Zong received the B.S. degree in 2017 and the M.S. degree in 2020, from Northeastern University, Shenyang and Zhejiang University, Hangzhou, China, respectively. He is currently pursuing the Ph.D. degree in the College of Mechanical Engineering, Zhejiang University, Hangzhou, China. His research interests include hydraulic robots, lightweight design of hydraulic cylinder/accumulator/system, heat transmission, energy recovery and utilization.

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Published

2021-05-31

Issue

Section

GFPS 2020