Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

Zhao, He; Zhao, Jun; Wang, Yunfei; Zhang, Zhonghai; Ding, Haigang; Man, Jiaxiang

doi:10.1177/09544062211028258

Cited by 5 publications

(2 citation statements)

References 33 publications

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“…Due to the advances in electronic technology and computer applications, the function and control technologies of robots are constantly improved and many innovative power-assisted, bionic, and industrial robots have emerged. [1][2][3][4] As an essential execution component for motion generation and interaction with the outside world, moving joints significantly affect the functional ability and intelligence level of robots. 5,6 Therefore, it is significant to design and implement joints and corresponding driving devices according to functional requirements for robotics.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Yang

Zhang

Shi

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Robotic exoskeletons with different actuators have been extensively investigated for decades, but designing a robot joint with compact structure, sufficient output torque, and satisfactory kinematic performance still remains a challenge. The paper introduces the mechanical design and control scheme of a novel joint with a circular rotary electro-hydraulic actuator in order to provide walking assistance for the hip joint. First, measurement and analysis techniques are applied in the gait recognition to determine an accurate swing range of the target joint and provide essential information for the structure design of the hydraulic rotary drive joint. Secondly, the functional structure and working principle of the hydraulic rotary joint are described in detail and the corresponding mathematical model is established for the valve-controlled hydraulic servo system. In addition, an adaptive sliding mode control (ASMC) method is proposed for position-tracking and improving the anti-disturbance ability of the controlled system. The global asymptotic stability and finite-time convergence of the closed-loop system are proved by Lyapunov stability theory. Finally, the feasibility and position-tracking performance of the designed ASMC controller were experimentally verified. Compared to the PID controller and the conventional sliding mode control scheme, the proposed controller improved the position-tracking control accuracy by 20%.

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Section: Introductionmentioning

confidence: 99%

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Yang

Zhang

Shi

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…9,10 Fuzzy control and sliding mode control methods effectively strengthened the robustness of the system. [11][12][13] Adaptive control methods ensured the system control accuracy under changeful operating conditions. [14][15][16] However, the performance limit of the hardware limits further enhancement of the system performance.…”

Section: Introductionmentioning

confidence: 99%

Flow-reduced double valve actuation for improving the dynamic performance of electro-hydraulic servo drive

Xie

Chen

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Due to the negative correlation between the frequency response and the rated flow of the servo valve, there remains challenge to achieve high dynamic response of large-flow servo valve-controlled hydraulic systems under extreme operating conditions. Although the effective bandwidth of such system can be extended via various control methods, the inherent performance limit of hardware limits further improvement of the system dynamic response. In this paper, a flow-reduced double valve actuation strategy is proposed to improve the performance of electro-hydraulic servo drives. By reducing the actually used flow, the frequency response of the servo valve is enhanced due to the decreased hydraulic spring force and transient flow force acting on the spool. Two flow-reduced servo valves are adopted in parallel to meet large flow along with the improved dynamic performance. Simulation research is conducted and a servo valve-controlled shaking table with a specially designed valve block is used for experimental validation. Simulation and experimental results prove that the proposed strategy possesses better dynamic performance than the conventional single valve actuation.

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Research on ADRC algorithm for longitudinal attitude of hydrofoil craft based on improved convergence law

Liu,

Xu,

et al. 2024

Ocean Engineering

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Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

Cited by 5 publications

References 33 publications

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Flow-reduced double valve actuation for improving the dynamic performance of electro-hydraulic servo drive

Research on ADRC algorithm for longitudinal attitude of hydrofoil craft based on improved convergence law

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