Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Li, Lan; Lin, Ziying; Jiang, Yi; Yu, Cheng; Yao, Jianyong

doi:10.3390/machines9030057

Cited by 11 publications

(6 citation statements)

References 27 publications

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“…However, the problem of dead zone is not considered in these results. In fact, actuator failure and dead zone may occur simultaneously (see Li et al 35 ). Therefore, the model considered in this paper has more practical significance.…”

Section: System Descriptionmentioning

confidence: 99%

Adaptive tracking control for a class of nonlinear systems with input dead‐zone and actuator failure

Lei

Chen

Wang

2022

Math Methods in App Sciences

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In this paper, the adaptive tracking problem for a class of strictly feedback nonlinear time-delay systems with output constraints, actuator failures, and input dead zones is studied. First, in the design of controller, the absolute value function and integral term are introduced into the candidate functions to deal with nonlinear factors and distributed time-varying delays in the system. In addition, an adaptive neural network controller is designed to ensure the stability of the controlled system, and the system tracking error can converge to the origin without violating the constraints. Finally, simulation results verify the feasibility of the proposed control strategy.

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Section: System Descriptionmentioning

confidence: 99%

Adaptive tracking control for a class of nonlinear systems with input dead‐zone and actuator failure

Lei

Chen

Wang

2022

Math Methods in App Sciences

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“…Ref. [4] focused on analyzing the influence of valve backlash on hydraulic manipulator dynamics and designing a robust compensator via the back-stepping method. Considering the strong coupling between multi-axes, modeling and experimental analysis on the coupling characteristics through backlash in a macro-micro positioning system based on a planar parallel structure has been carried out in Ref.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Kang,

Zhang,

Huang

et al. 2023

Machines

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A macro–micro dual-drive motion platform is a class of key system utilized in ultra-precision instruments and equipment for realizing ultra-high-precision positioning, which relates to the fields of semiconductor manufacturing, ultra-precision testing and machining, etc. Aiming at the ultra-high-precision positioning control problem of macro–micro dual-drive systems containing mechanical backlash, this paper analyzes the combined effect of mechanical coupling and backlash, and proposes a macro–micro compound control strategy. Firstly, the system dynamic model, including mechanical coupling, is established, and a quasi-linear backlash model is also proposed. Secondly, based on the above model, a stepwise nonlinear identification method is proposed to obtain the backlash characteristic online, which is the basis of accurate backlash compensation. Then, for the macro–micro structure containing the backlash, a macro decoupling control method, combined with a micro adaptive integral sliding mode control method and backlash compensation, are designed coordinately to guarantee that the large-stroke macro–micro cooperative motion reaches micron-level accuracy. Moreover, the boundary of the positioning error is adjustable by tuning the controller parameters. Finally, both the simulation and experimental results demonstrate that the proposed identification method can estimate the time-varying backlash precisely in finite time, and the system positioning accuracy can achieve an average 20 μm with long stroke and backlash influence, which is much higher than that using the traditional method and provides theoretical guidance for high-precision positioning control of a class of dual-drive motion platform.

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“…Nevertheless, it is essential to ensure synchronous motions of dual cylinders without excessive internal forces for a stable erection. In addition, the electro-hydraulic servo-erection system under study is subjected to many nonlinearities [8][9][10] including mechanism nonlinearities arising from the conversion between the displacement and rotation, distinct dynamics of the asymmetric two chambers of the telescopic cylinder, and pressure and flow nonlinearities of the hydraulic system. Furthermore, the electro-hydraulic erection mechanism generally suffers from various model uncertainties, such as friction, flow leakage and external disturbances [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Neural Network-Based Dual-Cylinder Synchronous Control of a Multi-Link Erection Mechanism

Deng

et al. 2022

Electronics

Self Cite

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A dual-cylinder erection mechanism, in which two telescopic cylinders physically connect to a load, is a nonlinear system with model uncertainties and coupled dynamics. In this paper, a novel synchronous control algorithm with thrust-allocation law is proposed for eliminating the excessive internal forces caused by the unbalanced rotation and lateral moments during the erection process. With regulated internal forces, the “pull and drag” issue is attenuated and better synchronization performance is attained. For improved tracking accuracy, the inter-stage collision dynamics of the telescopic cylinder are considered for model compensation to enhance stage-changing and in-position performance. A radial basis function (RBF) neural network is utilized to estimate the model uncertainties and external disturbances, which alleviates reliance upon the accuracy of a system model for controller implementation. As a result, theoretical analysis revealed that the semi-global asymptotic stability and synchronized motion performance with decreased internal forces can be achieved via the presented synchronous controller with thrust-allocation strategy. Contrasting simulations were implemented on a multi-link erection mechanism and the results confirmed the superiority and effectiveness of the proposed synchronous control algorithm.

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Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Cited by 11 publications

References 27 publications

Adaptive tracking control for a class of nonlinear systems with input dead‐zone and actuator failure

Adaptive tracking control for a class of nonlinear systems with input dead‐zone and actuator failure

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Neural Network-Based Dual-Cylinder Synchronous Control of a Multi-Link Erection Mechanism

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