Fuzzy Adaptive Impedance Control for Deep-Sea Hydraulic Manipulator Grasping Under Uncertainties

Chen, Yanzhuang; Zhang, Zuo‐Feng; Tian, Qiyan; Huo, Lingqing; Feng, Xisheng

doi:10.1109/ieeeconf38699.2020.9389203

Cited by 5 publications

(4 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the AME Sim platform, with the rated flow at maximum valve opening and the corresponding pressure drop of the servo valve, the equivalent orifice area and the hydraulic diameter can be computed [36]. The equivalent orifice shows the same characteristics that complies with Equation ( 8) or (9). The ambient pressure increases by 10 MPa for each increase of 1km in depth.…”

Section: Model and Settingsmentioning

confidence: 99%

“…It is usually mounted on submarine mining vehicles [2], autonomous underwater vehicles (AUVs) [3], human occupied vehicles (HOVs) [4] or remotely operated vehicles (ROVs) [5]. Classified by drive mode, there are two types of deep-sea manipulators: electric manipulators [6,7] and hydraulic manipulators [8,9]. Due to advantages such as a higher power-to-weight ratio, a more compact structure, and inherent overload protection [1,10], deep-sea hydraulic manipulators are more widely used commercially than electric manipulators.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Working Performance of the Deep-Sea Valve-Controlled Hydraulic Cylinder System under Pressure-Dependent Viscosity Change and Hydrodynamic Effects

Zou³

et al. 2022

JMSE

View full text Add to dashboard Cite

The valve-controlled hydraulic cylinder system (VCHCS) is commonly used for actuators such as manipulators in deep-sea equipment, whose working performance is crucial to subsea tasks. Affected by the ambient pressure introduced by the pressure compensator, the viscosity of the hydraulic oil increases significantly. On this basis, the viscosity changes further when flowing in the slender pipeline, making the pipeline pressure loss substantially increase and subsequently affecting the working performance of the deep-sea VCHCS. Aiming at this issue, a detailed nonlinear mathematical model of the deep-sea VCHCS is established, in which the viscosity-pressure characteristics of the hydraulic oil is considered to take the viscosity changes in the pipeline into account. Besides, the hydrodynamic effects are also included in the model. Then the corresponding numerical simulation model of the deep-sea VCHCS is established, and its working performance at different depths is simulated and analyzed. When the depth is 11km, the extension and retraction movements are delayed by 52.50% and 43.12% respectively. The root cause of the delay is then analyzed and discussed. Finally, the parameters that affect the working performance are studied, and suggestions to reduce or eliminate the delay phenomenon are given. The results can provide theoretical support for the performance optimization of the deep-sea VCHCS.

show abstract

Section: Model and Settingsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Working Performance of the Deep-Sea Valve-Controlled Hydraulic Cylinder System under Pressure-Dependent Viscosity Change and Hydrodynamic Effects

Zou³

et al. 2022

JMSE

View full text Add to dashboard Cite

show abstract

“…Force/torque sensors are widely applied in manipulators to obtain feedback on force and torque, which can help researchers achieve close-loop control. When working in extreme conditions, for instance, in space [1] or in deep-sea [2,3] applications, F/T sensors will suffer severe characteristic drift due to the wide range of ambient temperature. The characteristic drifts will cause bias between measured values and real values, consequently decreasing the precision of measurements.…”

Section: Introductionmentioning

confidence: 99%

A Temperature Compensation Method for aSix-Axis Force/Torque Sensor Utilizing Ensemble hWOA-LSSVM Based on Improved Trimmed Bagging

Gao

Cao

et al. 2022

Sensors

View full text Add to dashboard Cite

The performance of a six-axis force/torque sensor (F/T sensor) severely decreased when working in an extreme environment due to its sensitivity to ambient temperature. This paper puts forward an ensemble temperature compensation method based on the whale optimization algorithm (WOA) tuning the least-square support vector machine (LSSVM) and trimmed bagging. To be specific, the stimulated annealing algorithm (SA) was hybridized to the WOA to solve the local entrapment problem, and an adaptive trimming strategy is proposed to obtain the optimal trim portion for the trimmed bagging. In addition, inverse quote error (invQE) and cross-validation are employed to estimate the fitness better in training process. The maximum absolute measurement error caused by temperature decreased from 3.34% to 3.9×10−3% of full scale after being compensated by the proposed method. The analyses of experiments illustrate the ensemble hWOA-LSSVM based on improved trimmed bagging improves the precision and stability of F/T sensors and possesses the strengths of local search ability and better adaptability.

show abstract

“…et al proposed a method that introduced the fuzzy self-tuning mechanism to adjust the sliding mode control parameters for the electro-hydraulic servo mechanism [33]. Y.Z et al designed a position-based fuzzy adaptive impedance control for a deep-sea hydraulic manipulator, in which fuzzy logic was used to adjust the impedance parameters [34]. Therefore, fuzzy logic is well suited to realize the parameters to be designed in the backstepping method.…”

Section: Introductionmentioning

confidence: 99%

Extended State Observer-Based Fuzzy Adaptive Backstepping Force Control of a Deep-Sea Hydraulic Manipulator with Long Transmission Pipelines

Chen

Zhang

Tian

et al. 2022

JMSE

View full text Add to dashboard Cite

The force tracking control of deep-sea hydraulic manipulator systems with long transmission pipelines is disposed via fuzzy adaptive backstepping control based on an extended state observer in this paper. The pipeline model is established and then used to estimate the pressures in cylinder chambers, which are used to obtain the output force. In this process, the velocity of the piston, which is unmeasured, is needed, and an extended state observer is constructed to estimate the unmeasurable velocity signal. To cope with parameter uncertainties caused by changes in working depth, an adaptive algorithm is combined with the backstepping controller. Fuzzy logic is employed to design self-tuners that can automatically adjust the control parameters to guarantee force control performance from shallow seas to deep seas. The experimental results illustrate the success of the proposed control method. Comparative experimental results demonstrate that the extended state observer-based fuzzy adaptive backstepping controller has a relatively better tracking performance in different working conditions.

show abstract

Fuzzy Adaptive Impedance Control for Deep-Sea Hydraulic Manipulator Grasping Under Uncertainties

Cited by 5 publications

References 12 publications

Working Performance of the Deep-Sea Valve-Controlled Hydraulic Cylinder System under Pressure-Dependent Viscosity Change and Hydrodynamic Effects

Working Performance of the Deep-Sea Valve-Controlled Hydraulic Cylinder System under Pressure-Dependent Viscosity Change and Hydrodynamic Effects

A Temperature Compensation Method for aSix-Axis Force/Torque Sensor Utilizing Ensemble hWOA-LSSVM Based on Improved Trimmed Bagging

Extended State Observer-Based Fuzzy Adaptive Backstepping Force Control of a Deep-Sea Hydraulic Manipulator with Long Transmission Pipelines

Contact Info

Product

Resources

About