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An Adaptive Robust Controller for Hydraulic Robotic Manipulators with a Flow-Mapping Compensator
     
  
  
刊名:
International Journal of Fluid Power
作者:
Fu Zhang
(State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University)
Junhui Zhang
(State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University)
Bing Xu
(State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University)
Huizhou Zong
(State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University)
刊号:
720E0001
ISSN:
1439-9776
出版年:
2021
年卷期:
2021, vol.22, no.2
页码:
259-276
总页数:
18
分类号:
TK
关键词:
Hydraulic manipulators
;
Nonlinear control
;
Motion control
参考中译:
语种:
eng
文摘:
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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