Research on the Hydraulic Actuator Control of the Quadruped Robot Based Dual-Loop

2012 ◽  
Vol 569 ◽  
pp. 533-538
Author(s):  
En Chao Yang ◽  
Qing Wei ◽  
Run Bin Cai ◽  
Hong Xu Ma
Keyword(s):  
Position Control ◽  
Control Method ◽  
Quadruped Robot ◽  
Order System ◽  
Control Loop ◽  
Hydraulic Actuator ◽  
Loop Control ◽  
Actual Force ◽  
Target Force ◽  
Actuator Control

This paper presents modeling and dual-loop control of a non-linear hydraulic actuator applied on the quadruped robot. The pure position control of the actuator is hard to achieve because it’s a three-order system. So we propose the dual-loop control method to decompose it. The controller structure of the system is composed of two loops namely outer position control loop and inner force control loop. Outer loop controller is used to calculate the optimum target force to reject the errors of the position control, while, the inner loop controller is used to keep the actual force close to this desired force.

Modified Predictive Control for a Class of Electro-Hydraulic Actuator

2016 ◽  
Vol 6 (2) ◽  
pp. 630
Author(s):  
Abdulrahman A.A. Emhemed ◽  
Rosbi Bin Mamat ◽  
Ahmad ‘Athif Mohd Faudzi ◽  
Mohd Ridzuan Johary ◽  
Khairuddin Osman
Keyword(s):  
Simulation Model ◽  
Predictive Control ◽  
Position Control ◽  
Control Method ◽  
Quick Response ◽  
Control Parameters ◽  
System Matrix ◽  
Hydraulic Actuator ◽  
Matrix Formulation ◽  
Control Matrix

<span>Many model predictive control (MPC) algorithms have been proposed in the literature depending on the conditionality of the system matrix and the tuning control parameters. A modified predictive control method is proposed in this paper. The modified predictive method is based on the control matrix formulation combined with optimized move suppression coefficient. Poor dynamics and high nonlinearities are parts of the difficulties in the control of the Electro-Hydraulic Actuator (EHA) functions, which make the proposed matrix an attractive solution. The developed controller is designed based on simulation model of a position control EHA to reduce the overshoot of the system and to achieve better and smoother tracking. The performance of the designed controller achieved quick response and accurate behavior of the tracking compared to the previous study.</span>

scholarly journals Modified Predictive Control for a Class of Electro-Hydraulic Actuator

2016 ◽  
Vol 6 (2) ◽  
pp. 630
Author(s):  
Abdulrahman A.A. Emhemed ◽  
Rosbi Bin Mamat ◽  
Ahmad ‘Athif Mohd Faudzi ◽  
Mohd Ridzuan Johary ◽  
Khairuddin Osman
Keyword(s):  
Simulation Model ◽  
Predictive Control ◽  
Position Control ◽  
Control Method ◽  
Quick Response ◽  
Control Parameters ◽  
System Matrix ◽  
Hydraulic Actuator ◽  
Matrix Formulation ◽  
Control Matrix

<span>Many model predictive control (MPC) algorithms have been proposed in the literature depending on the conditionality of the system matrix and the tuning control parameters. A modified predictive control method is proposed in this paper. The modified predictive method is based on the control matrix formulation combined with optimized move suppression coefficient. Poor dynamics and high nonlinearities are parts of the difficulties in the control of the Electro-Hydraulic Actuator (EHA) functions, which make the proposed matrix an attractive solution. The developed controller is designed based on simulation model of a position control EHA to reduce the overshoot of the system and to achieve better and smoother tracking. The performance of the designed controller achieved quick response and accurate behavior of the tracking compared to the previous study.</span>

The Mathematical Modeling and Dynamic Trot Gait Simulation on the Single Leg Hydraulic Drive System of the Quadruped Robot

2017 ◽  
Vol 865 ◽  
pp. 417-422
Author(s):  
Xiang Dong Kong ◽  
Kai Xian Ba ◽  
Bin Yu ◽  
Chun He Li ◽  
Qi Xin Zhu ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Position Control ◽  
Control Method ◽  
Simulation Analysis ◽  
Hydraulic Drive ◽  
Quadruped Robot ◽  
Drive System ◽  
Nonlinear Mathematical Model ◽  
Trot Gait ◽  
The Relationship

In this paper, the single leg hydraulic drive system of the quadruped robot is taken as the research object. Then the nonlinear mathematical model of the hydraulic system is built. According to the real mechanical structure parameters of the single leg, the relationship between position control characteristics of the system and variation of single leg trajectory is investigated. Besides, the tracing accuracy of single leg foot displacement in one trot gait condition is analyzed through combination of kinematics solution and simulation analysis. In conclusion, the research indicates that the nonlinear mathematical model can be used to analyze the position control performance of the single leg hydraulic drive system. This research provides a basic foundation for further research of control method.

Simulation of Position Control and Flow Rate Match of Integrated Hydraulic Actuator Unit

2010 ◽  
Vol 118-120 ◽  
pp. 640-644
Author(s):  
Jian Xin Liu ◽  
Yu Liu ◽  
Ping Tan
Keyword(s):  
Flow Rate ◽  
Position Control ◽  
Control Method ◽  
Hydraulic Systems ◽  
Hydraulic Actuator ◽  
External Disturbances ◽  
Heavy Load ◽  
Actuation System ◽  
Oil Tank

This paper presents a kind of all-digital integrated hydraulic actuator (IHA) unit to drive heavy load object without centralized oil tank. In order to improve the control quality of the actuation system while eliminating or reducing the disturbance, and also to solve the problem of flow rate mismatch existed in IHA with single-rod cylinder actuator, a fuzzy PID PWM controller is suggested. Simulations on the integrated hydraulic actuator unit are carried out to evaluate the effectiveness of the proposed control method when applied to hydraulic systems with various external disturbances encountered in real working conditions. Simulation results are discussed and some conclusions are given.

scholarly journals Soft Controllable Carbon Fibre-based Piezoresistive Self-Sensing Actuators

Actuators ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 79
Author(s):  
Min Pan ◽  
Chenggang Yuan ◽  
Hastha Anpalagan ◽  
Andrew Plummer ◽  
Jun Zou ◽  
...  
Keyword(s):  
Carbon Fibre ◽  
Position Control ◽  
Control Method ◽  
Feedforward Control ◽  
The Body ◽  
Physical Contact ◽  
Sensing Element ◽  
Resistance Change ◽  
Soft Robots ◽  
Loop Control

Soft robots and devices exploit deformable materials that are capable of changes in shape to allow conformable physical contact for controlled manipulation. While the use of embedded sensors in soft actuation systems is gaining increasing interest, there are limited examples where the body of the actuator or robot is able to act as the sensing element. In addition, the conventional feedforward control method is widely used for the design of a controller, resulting in imprecise position control from a sensory input. In this work, we fabricate a soft self-sensing finger actuator using flexible carbon fibre-based piezoresistive composites to achieve an inherent sensing functionality and design a dual-closed-loop control system for precise actuator position control. The resistance change of the actuator body was used to monitor deformation and fed back to the motion controller. The experimental and simulated results demonstrated the effectiveness, robustness and good controllability of the soft finger actuator. Our work explores the emerging influence of inherently piezoresistive soft actuators to address the challenges of self-sensing, actuation and control, which can benefit the design of next-generation soft robots.

scholarly journals Control-Loop-Based Impedance Enhancement of Grid-Tied Inverters for Harmonic Suppression: Principle and Implementation

Energies ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 2874
Author(s):  
Fei Wang ◽  
Lijun Zhang ◽  
Hui Guo ◽  
Xiayun Feng
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Current Loop ◽  
Harmonic Suppression ◽  
Control Loop ◽  
Output Impedance ◽  
Loop Control ◽  
Control Loops ◽  
Capacitor Voltage

To understand different control loops that have been proposed to improve the quality of current into grid from the perspective of output impedance, control-loop-based output impedance enhancement of grid-tied inverters for harmonic suppression is proposed in this paper. The principle and generalized control loop deduction are presented for reshaping the output impedance. Taking a traditional LCL (Inductor-Capacitor-Inductor)-type inverter with dual-loop control as an example, different kinds of control loop topologies are derived step by step and further optimized for the implementation of the proposed principle. Consequently, the improved control consists of a filtering-capacitor voltage loop, and a grid current loop is found which can remove the existing inner capacitor current loop and therefore simplify the control. Finally, the effectiveness of the proposed control method is compared with the existing method and both are verified by simulations and experiments.

scholarly journals SIMULASI DAN EKSPERIMEN KONTROL AUTOMATIC TURRET GUN

JURNAL ELTEK ◽  
2018 ◽  
Vol 16 (1) ◽  
pp. 1
Author(s):  
Mohamad Nasyir Tamara ◽  
Bambang Pramujati ◽  
Hendro Nurhadi ◽  
Endra Pitowarno
Keyword(s):  
Force Control ◽  
Reference Point ◽  
Pid Controller ◽  
Control Method ◽  
Movement Trajectory ◽  
Active Force ◽  
Control Loop ◽  
Internal Loop ◽  
Actual Force ◽  
Crude Approximation

This research presented Active Force Control (AFC) as a control method which is applied to Automatic Turret gun (ATG) in ground combat vehicles This method compares the reference force conducted by actuator with actual force of the mechanical systems that arise due to disturbances. The advantage of AFC method is its ability to handle disturbances effectively without complicated mathematical calculations. The AFC method uses Crude Approximation (CA) in the internal loop controller AFC as inertia matrix estimator as an important part in the control loop.  Simulation without load on the azimuth movement shows PID controller produces the best precision with MSE of 0 degrees while RACAFC and RAC method provide MSE 0.267 degrees. In simulation on the elevation movement, the RAC method showed the best results with an estimated MSE of the targets shot of 2.42 degrees, while the PID and RACAFC method are 2.5 and 2.46 degrees. When simulation is conducted with additional load RACAFC method gives the best precision with a MSE of 0.267 and 2:46 degrees, while the PID method was 4.24 and the 10.52 degrees. RAC method produces MSE of 0.7 and 2.87 degrees. With the added load the performance of PID controller decreases. In the experiment on the constructed rig, RAC and RACAFC scheme produce smoother movement trajectory and minimum oscillation compared to the PID controller. In loaded conditions these methods are able to maintain their performance. However, these three methods can still achieve a reference point with or without load in the end of travel time

Control of Hydraulic Actuator Systems Using Feedback Modulator

2008 ◽  
Vol 20 (5) ◽  
pp. 695-708 ◽  
Author(s):  
Takeyuki Ohgi ◽  
◽  
Yasuyoshi Yokokohji
Keyword(s):  
High Precision ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Hydraulic Systems ◽  
Joint Movement ◽  
Heavy Duty ◽  
Hydraulic Actuator ◽  
Feedback Modulator ◽  
Actuator Control ◽  
Unbalanced Loads

Heavy-duty robots using hydraulic actuators are expected to support rescue operations by removing heavy rubble in hostile -wet, dusty, or muddy- environments. The high friction generated by their hydraulic actuator, however, makes it difficult to use them in operations requiring high precision. The servovalves used to control a hydraulic actuator precisely are more expensive than conventional proportional valves, making it impractical to install them in all joints of heavy-duty robots having many degrees of freedom. In this paper, a new hydraulic actuator control method using a feedback modulator is proposed. The proposed controller improves the performance of hydraulic systems using conventional proportional valves, making it as good as that with servovalves. This paper also proposes exclusive control for controlling multiple joints simultaneously to prevent asynchronous joint movement under unbalanced loads. The effectiveness of the proposed method is confirmed through simulations and experiments.

Station-Keeping Control Law Design of Near-Space Airship with Wind Interferences Based on Control Allocation Strategy

2011 ◽  
Vol 110-116 ◽  
pp. 4962-4969
Author(s):  
Xiao Guang Di ◽  
Ya Fei Yang ◽  
Xue Han ◽  
Ke Mao Ma
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Control Method ◽  
Vertical Position ◽  
Control Law ◽  
Control Allocation ◽  
Control Loop ◽  
Allocation Strategy ◽  
Station Keeping ◽  
Near Space

This paper presents a method for solving the station-keeping problem of near-space airship (NSA) at an altitude of 22km above sea level with wind influence. Firstly, according to the system overall configuration, the nonlinear mathematical model of NSA is established. Secondly, considering the steady wind and turbulence influences, the station-keeping control law of NSA longitudinal plane which divided into forward control loop and vertical control loop is designed. The vertical position control loop adopts the dual PID control method. In order to improve attitude response performance and decrease energy consumption of actuators, attitude control allocation strategy between fins and vectored thruster is provided. At last, the simulation experiment proves the validity of the proposed station-keeping control method of NSA.

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