High-Precision Control Solution for Asymmetrical Electro-Hydrostatic Actuators Based on the Three-Port Pump and Disturbance Observers

Zhou, Fengqi; Liu, Hao; Zhang, Pengfei; Ouyang, Xiaoping; Li-lin, XU; Ge, Yibo; Yao, Yeming; Yang, Huayong

doi:10.1109/tmech.2022.3200029

Cited by 13 publications

(3 citation statements)

References 36 publications

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“…Finally, an external force of approximately 48 N is obtained, which is larger than the set value of 40 N. This indicates that a portion of the interference force, including frictional forces, can also be indirectly estimated, demonstrating the accuracy of the ESO method in testing. In addition to the trajectory tracking error, the control performance is also assessed using the maximum error percentage (MEP), which is obtained by dividing the maximum error by the maximum position value [44]. The trajectory results for Cases 1 to 4, comparing BSMC and PID, are shown in Figures 14-17.…”

Section: Resultsmentioning

confidence: 99%

Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer

Li,

Ding

2023

Machines

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Due to advantages such as a high power-to-weight ratio, a simple structure, and low cost, pneumatic systems are widely applied in automation. However, precise position control of pneumatic actuators is challenging because of factors such as friction, compressibility, and external disturbances. This paper presents a backstepping sliding mode control (BSMC) strategy based on the extended state observer (ESO) for pneumatic cylinder position tracking. A nonlinear model of the pneumatic system is first established, then system states and disturbances are estimated by an ESO, next the BSMC approach is developed using backstepping method and sliding mode control theory, and the stability of the ESO and controller is analyzed using Lyapunov theory. Finally, simulations and experiments on a pneumatic testbed are performed to compare the effectiveness of the proposed approach with PID control. The results show that the proposed strategy improves tracking accuracy and robustness against disturbances, with a 77.04% reduction in root mean square error (RMSE). This research provides a promising control solution for automated pneumatic polishing robots.

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Section: Resultsmentioning

confidence: 99%

Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer

Li,

Ding

2023

Machines

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“…To maintain the follower's motion continuity and prevent abrupt rigid or flexible shocks, it is imperative to ensure that the displacement, velocity, and acceleration at both the initial and final points of the transition segment curve do not undergo sudden changes. As elucidated by (2), this requirement not only governs the coordinates of the start and end points of the transition segment but also enforces constraints on the velocity and acceleration at these points. The quintic B-spline interpolation curve is a pertinent choice due to its inherent attributes allowing specification of the initial and end positions as well as the first-and second-order derivatives.…”

Section: T T T S T T T C T T Bsmentioning

confidence: 99%

“…With the emergence of electrification, the electro-hydrostatic actuator (EHA) [1], [2] in hydraulic transmission technology has gained significant attention as a research focus. As early as the 1980s, Europe and the United States conducted extensive prototype testing and flight verification of the EHA actuation system, demonstrating a series of advantages associated with the EHA actuation approach.…”

Section: Introductionmentioning

confidence: 99%

Optimization and Modeling of a Spatial CAM Mechanism for a Two-Dimensional Plunger Electro-Hydraulic Pump

Qiu,

Wang,

et al. 2023

IEEE Access

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Traditional cam movements in piston pumps follow a non-stopping motion law, resulting in insufficient smoothness in plunger stroke changes. Consequently, this directly impacts the theoretical flow rate of the pump. To address this issue, describes the transition curve of the non-stopping motion law is constructed in this study by using a fivefold B-spline curve. The maximum uncaused velocity and acceleration are considered optimization parameters. Multi-objective optimization of the motion law is conducted using a genetic algorithm, resulting in the generation of a Pareto solution set. Compared to the modified equivalent acceleration (MEA) motion law, the B-spline combined motion law leads to a reduction of 1.39% and 0.86% in the maximum velocity and acceleration characteristic values, respectively. Furthermore, by employing the principle of a single-parameter surface envelope, a mathematical model of the cam surface is developed. The obtained data points are then solved using the double-three times Bspline cam surface interpolation algorithm. Subsequently, the interpolation result is translated into a cam surface model file based on the data structure of the IGES file.The optimization results demonstrate that compared to equal acceleration and deceleration motion laws, the B-spline optimization curve achieves a seamless transition. Specifically, the maximum pressure angle decreases from 27.98°to 19.92°, and the minimum radius of curvature decreases from 9.94 mm to 7.44 mm, validating the accuracy of the theoretical analysis. Experimental displacement tests are conducted on the spatial cam mechanism, revealing that the cam design process has been streamlined, and the designed spatial cam exhibits enhanced fitting performance.INDEX TERMS Space CAM mechanism; two-dimensional plunger electro-hydraulic pump; B-spline curve; multi-objective genetic algorithm; envelope principle of a single-parameter surface

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Comparative Tests of the Impact of Modifications to the Hydrostatic Drive System of Blasting Utility Vehicle WS-153/173

Siwulski,

Wolter

2023

Lecture Notes in Mechanical Engineering

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High-Precision Control Solution for Asymmetrical Electro-Hydrostatic Actuators Based on the Three-Port Pump and Disturbance Observers

Cited by 13 publications

References 36 publications

Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer

Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer

Optimization and Modeling of a Spatial CAM Mechanism for a Two-Dimensional Plunger Electro-Hydraulic Pump

Comparative Tests of the Impact of Modifications to the Hydrostatic Drive System of Blasting Utility Vehicle WS-153/173

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