Motion control for a redundantly actuated parallel electrohydraulic mechanism

Changhong Gao; Zhidong Yang; Dacheng Cong; Chifu Yang

doi:10.1109/FPM.2015.7337265

Motion control for a redundantly actuated parallel electrohydraulic mechanism

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, a motion controller for a redundantly actuated parallel electrohydraulic mechanism (RA-PEHM) is developed that includes a position tracking loop and an internal force rejecting loop. Electrohydraulic and rigid body models are built. The structure of internal force space is analyzed. Model-based position control for rigid-body degrees of freedom (DOF) is proposed, using a fast inner force loop to track programming desired generalized forces thereby reproducing desired position. Force control based on real-time solution of the basis of the internal force space for redundant DOF is used to reject internal forces, which are usually caused by some factors, such as inconsistent dynamic behavior of drive units, zero drift of servovalves and measuring error of sensors. Simulation results show the proposed control scheme has good position tracking performance and effectively reduces the internal force simultaneously.

Original language	English
Title of host publication	Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1019-1023
Number of pages	5
ISBN (Electronic)	9781479987702
DOIs	https://doi.org/10.1109/FPM.2015.7337265
State	Published - 24 Nov 2015
Event	7th International Conference on Fluid Power and Mechatronics, FPM 2015 - Harbin, China Duration: 5 Aug 2015 → 7 Aug 2015

Publication series

Name	Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015

Conference

Conference	7th International Conference on Fluid Power and Mechatronics, FPM 2015
Country/Territory	China
City	Harbin
Period	5/08/15 → 7/08/15

Keywords

internal force rejection
internal force space
model-based control
parallel electrohydraulic mechanism
redundant actuation

Access to Document

10.1109/FPM.2015.7337265

Cite this

Gao, C., Yang, Z., Cong, D., & Yang, C. (2015). Motion control for a redundantly actuated parallel electrohydraulic mechanism. In Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015 (pp. 1019-1023). Article 7337265 (Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FPM.2015.7337265

Gao, Changhong ; Yang, Zhidong ; Cong, Dacheng et al. / Motion control for a redundantly actuated parallel electrohydraulic mechanism. Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1019-1023 (Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015).

@inproceedings{5d72885cc96043e8a6777d78ed83e783,

title = "Motion control for a redundantly actuated parallel electrohydraulic mechanism",

abstract = "In this paper, a motion controller for a redundantly actuated parallel electrohydraulic mechanism (RA-PEHM) is developed that includes a position tracking loop and an internal force rejecting loop. Electrohydraulic and rigid body models are built. The structure of internal force space is analyzed. Model-based position control for rigid-body degrees of freedom (DOF) is proposed, using a fast inner force loop to track programming desired generalized forces thereby reproducing desired position. Force control based on real-time solution of the basis of the internal force space for redundant DOF is used to reject internal forces, which are usually caused by some factors, such as inconsistent dynamic behavior of drive units, zero drift of servovalves and measuring error of sensors. Simulation results show the proposed control scheme has good position tracking performance and effectively reduces the internal force simultaneously.",

keywords = "internal force rejection, internal force space, model-based control, parallel electrohydraulic mechanism, redundant actuation",

author = "Changhong Gao and Zhidong Yang and Dacheng Cong and Chifu Yang",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 7th International Conference on Fluid Power and Mechatronics, FPM 2015 ; Conference date: 05-08-2015 Through 07-08-2015",

year = "2015",

month = nov,

day = "24",

doi = "10.1109/FPM.2015.7337265",

language = "英语",

series = "Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1019--1023",

booktitle = "Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015",

address = "美国",

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Gao, C, Yang, Z , Cong, D & Yang, C 2015, Motion control for a redundantly actuated parallel electrohydraulic mechanism. in Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015., 7337265, Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1019-1023, 7th International Conference on Fluid Power and Mechatronics, FPM 2015, Harbin, China, 5/08/15. https://doi.org/10.1109/FPM.2015.7337265

Motion control for a redundantly actuated parallel electrohydraulic mechanism. / Gao, Changhong; Yang, Zhidong ; Cong, Dacheng et al.
Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1019-1023 7337265 (Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Motion control for a redundantly actuated parallel electrohydraulic mechanism

AU - Gao, Changhong

AU - Yang, Zhidong

AU - Cong, Dacheng

AU - Yang, Chifu

PY - 2015/11/24

Y1 - 2015/11/24

N2 - In this paper, a motion controller for a redundantly actuated parallel electrohydraulic mechanism (RA-PEHM) is developed that includes a position tracking loop and an internal force rejecting loop. Electrohydraulic and rigid body models are built. The structure of internal force space is analyzed. Model-based position control for rigid-body degrees of freedom (DOF) is proposed, using a fast inner force loop to track programming desired generalized forces thereby reproducing desired position. Force control based on real-time solution of the basis of the internal force space for redundant DOF is used to reject internal forces, which are usually caused by some factors, such as inconsistent dynamic behavior of drive units, zero drift of servovalves and measuring error of sensors. Simulation results show the proposed control scheme has good position tracking performance and effectively reduces the internal force simultaneously.

AB - In this paper, a motion controller for a redundantly actuated parallel electrohydraulic mechanism (RA-PEHM) is developed that includes a position tracking loop and an internal force rejecting loop. Electrohydraulic and rigid body models are built. The structure of internal force space is analyzed. Model-based position control for rigid-body degrees of freedom (DOF) is proposed, using a fast inner force loop to track programming desired generalized forces thereby reproducing desired position. Force control based on real-time solution of the basis of the internal force space for redundant DOF is used to reject internal forces, which are usually caused by some factors, such as inconsistent dynamic behavior of drive units, zero drift of servovalves and measuring error of sensors. Simulation results show the proposed control scheme has good position tracking performance and effectively reduces the internal force simultaneously.

KW - internal force rejection

KW - internal force space

KW - model-based control

KW - parallel electrohydraulic mechanism

KW - redundant actuation

UR - https://www.scopus.com/pages/publications/84962594709

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DO - 10.1109/FPM.2015.7337265

M3 - 会议稿件

AN - SCOPUS:84962594709

T3 - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015

SP - 1019

EP - 1023

BT - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th International Conference on Fluid Power and Mechatronics, FPM 2015

Y2 - 5 August 2015 through 7 August 2015

ER -

Gao C, Yang Z , Cong D , Yang C. Motion control for a redundantly actuated parallel electrohydraulic mechanism. In Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1019-1023. 7337265. (Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015). doi: 10.1109/FPM.2015.7337265

Motion control for a redundantly actuated parallel electrohydraulic mechanism

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