An adaptive composite control for a hydraulic actuator impedance system of legged robots

Zhu, Qiuguo; Zhang, Junhui; Li, Xinjie; Zong, Huaizhi; Yu, Bin; Ba, Kaixian; Kong, Xianwen

doi:10.1016/j.mechatronics.2023.102951

Cited by 9 publications

(5 citation statements)

References 19 publications

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“…It improves the underdamped problem of the valve-controlled cylinder system and prolongs the service life of the components. This research has great development space and practical value in hydraulic quadruped robot [6], hydraulic steering system [7], material presses [8], excavators [9] and other occasions with large impact force. However, the high power density leads to the complexity of the internal flow channel of the damper, and the hysteresis characteristics are more obvious, which seriously affect the output accuracy of the damping force.…”

Section: Introductionmentioning

confidence: 99%

A forward-inverse dynamic model for the hydraulic damping(magnetorheological) actuator based on cyclic stress–strain

Ma,

Huang,

Huang

et al. 2024

Smart Mater. Struct.

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Magnetorheological dampers (MRDs) are applied to hydraulic systems, which not only improve the underdamped characteristics of valve-controlled cylinder systems, but also help hydraulic actuators to resist high load impact. However, the high power density leads to the complexity of the internal flow channel of the damper, which seriously affects the output accuracy of the damping force. It can lead to the fact that existing dynamics models cannot accurately describe the hysteresis characteristics of the MRD. Therefore, this study proposes a simple and general dynamic model of MRD, which solves the problem that existing models are complex and difficult to invert. Firstly, the hydraulic damping actuator (HDA) with the series MRD is taken as the research object. Based on the stress-strain hysteresis characteristics under the cyclic constitutive model, the hyperbolic tangent curve is reorganized and normalized. It can accurately describe the yield formation and yield dissipation stages of the hysteresis loop. Secondly, the relationship between the parameters of the dynamic model and the current is obtained according to the mechanical experimental data. Then the inverse model of the MRD is established by using the method of section-backstepping. Finally, in the static experiment, the Mean Absolute Percentage Error(MAPE) of the force at different velocity is less than 7.5%; In the dynamic experimental test, the MAPE of the force is 9.7%. The inverse dynamics model is verified to have high tracking performance under both static and dynamic forces. And it also indirectly confirms the effectiveness of the forward model.

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Section: Introductionmentioning

confidence: 99%

A forward-inverse dynamic model for the hydraulic damping(magnetorheological) actuator based on cyclic stress–strain

Ma,

Huang,

Huang

et al. 2024

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…The pressure impact during operations of various presses can affect their motion accuracy [5]. The foot-ground impact can produce displacement disturbance of the hydraulic actuator when the foot hydraulic robot is performing dropping or jumping action [6]. The complicated ground environments can cause offset of the tire angle during heavy vehicle steering [7].…”

Section: Introductionmentioning

confidence: 99%

Experiment and analysis of drop-weight damping control of MR semi-active impact resistance-based hydraulic actuator

Ma,

Huang,

Tang

et al. 2023

Smart Mater. Struct.

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The impact vibration caused by sudden changes in the external load of hydraulic actuators reduces the service life of hydraulic components and limits the high-precision applications of hydraulic actuators. Therefore, to improve the underdamped characteristics and impact resistance of valve-controlled cylinder systems, a semi-active impact resistance control of hydraulic actuator based on magnetorheological damper (MRD) is proposed. Firstly, based on the shear force characteristics of magnetorheological fluid, a multi-stage flow channel MRD is designed, which is connected in series with the hydraulic actuator to form a Hydraulic Damping Actuator (HDA). Meanwhile, based on the mechanical experimental data, the parameters of MRD dynamic model are identified to ensure the accuracy of MRD output force. Secondly, a drop weight impact model is established, and a sliding mode controller which can track the command current in real time is designed, so as to realize the resistance force coupling between the MRD and the hydraulic actuator for improving the impact resistance control effect. Then the dynamic performance test and impact resistance simulation program are established to verify the excellent dynamic performance and impact resistance effect of the HDA with the sliding mode control. Finally, the drop weight impact experimental platform is built. The experimental results show that under the impact with a height of 200 mm, the dynamic offset of the HDA is only -1.14 mm, and the time to return to the original position is 0.07 s, which validate the excellent performance of the proposed scheme in improving the underdamped characteristics of the valve-controlled cylinder system and the dynamic response performance of the hydraulic actuator.

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“…Helian et al [28] experimentally verified that high tracking accuracy was achieved using the proposed nonlinear motion control method in the case of the large dynamic nonlinearity of the hydraulic system. Zhu et al [29] proposed an adaptive controller for hydraulic drive units, combining the state observation of the polynomial nonlinear extension and a linearization control method based on the adaptive feedback signal, which improved the performance of the impedance control in the hydraulic system. Yan et al [30] proposed a control method to increase the energy efficiency of a hydraulic system by addressing the mismatch issue between the desired and designed power supplies based on a waterjet cutting machine.…”

Section: Introductionmentioning

confidence: 99%

Control Strategies for Piston Trajectory in Ionic Compressors for Hydrogen Storage

Guo,

Tang,

Cao

et al. 2023

Applied Sciences

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The ionic compressor is a new and prospective technology applied for hydrogen storage which adopts a hydraulic system in which the hydraulic drive unit is a solid piston in the compression cavity. Controlling the trajectory of the solid piston is critical for achieving the designed thermodynamic process of compression. However, a strategy for controlling the position of a piston in an ionic compressor has not been reported in the open literature. In this paper, three valve-controlled methodologies are proposed for the effective control of a piston’s trajectory in an ionic compressor. A transient numerical model of the entire compression system was built using AMESim 2021 software. The performances of the proposed control methods were simulated and compared. The results show that the maximum isothermal efficiency, 50.28%, was obtained in the system using Position-P control, for which the highest hydrogen discharge mass for a single compression cycle of 1.14 g, a relatively low specific energy consumption of 2395.17 J/g, and a relatively small velocity control error of 0.32 m/s were observed. Although the lowest specific energy consumption was found in the case of the Dual-PS control method, the smallest mass product was also found for this case. Therefore, the Position-S control strategy was identified as the optimal method for a hydraulically driven ionic liquid compressor system.

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An adaptive composite control for a hydraulic actuator impedance system of legged robots

Cited by 9 publications

References 19 publications

A forward-inverse dynamic model for the hydraulic damping(magnetorheological) actuator based on cyclic stress–strain

A forward-inverse dynamic model for the hydraulic damping(magnetorheological) actuator based on cyclic stress–strain

Experiment and analysis of drop-weight damping control of MR semi-active impact resistance-based hydraulic actuator

Control Strategies for Piston Trajectory in Ionic Compressors for Hydrogen Storage

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