基于扩展干扰观测器的电液执行器的模糊阻抗控制

李明杰; 魏建华; 方锦辉; 时文卓; 国凯

doi:10.1631/FITEE.1800155

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基于扩展干扰观测器的电液执行器的模糊阻抗控制

常规文章 | Updated：2022-05-19

- 基于扩展干扰观测器的电液执行器的模糊阻抗控制
- Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer
- 信息与电子工程前沿（英文） 2019年20卷第9期页码：1221-1233
- Affiliations：
  
  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
  MOE Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
- Author bio：
  
  Jin-hui FANG, E-mail: jhfang@zju.edu.cn
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 51605256), the National High-Tech R & D Program (863) of China (No. 2012AA041803), and the China Postdoctoral Science Foundation (No. 2016M590633)
- DOI：10.1631/FITEE.1800155
  中图分类号： TP271.3
- 收稿：2018-03-14，
  
  修回：2019-;9-;4，
  
  纸质出版：2019-09
- Accepted：
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李明杰, 魏建华, 方锦辉, 等. 基于扩展干扰观测器的电液执行器的模糊阻抗控制[J]. 信息与电子工程前沿（英文）, 2019,20(9):1221-1233.

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, et al. Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(9): 1221-1233.
李明杰, 魏建华, 方锦辉, 等. 基于扩展干扰观测器的电液执行器的模糊阻抗控制[J]. 信息与电子工程前沿（英文）, 2019,20(9):1221-1233. DOI： 10.1631/FITEE.1800155.

Ming-jie LI, Jian-hua WEI, Jin-hui FANG, et al. Fuzzy impedance control of an electro-hydraulic actuator with an extended disturbance observer[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(9): 1221-1233. DOI： 10.1631/FITEE.1800155.

摘要

在本文中，我们同时处理遭受外干扰及参数不确定影响的单出杆电液执行器的速度控制和力控制。在某些应用中，速度控制和力控制两者都有要求。阻抗控制和扩展干扰观测器的结合可以解决该问题。阻抗控制可调节执行器的速度和输出力之间的动态关系，有助于执行器与作用环境或者工件间避免冲击和保持合适的接触力。阻抗规则参数可由模糊算法调节。扩展干扰观测器被用于补偿外部干扰和参数不确定性，实现精确的速度跟踪。为扩展干扰器的开发，提出精确的负载力动力学模型。分析了系统稳定性。实验数据表明所提控制算法具有高精度速度跟踪性能，同时具有良好的力调节能力，在工程机械和装配中具有较大应用前景。

Abstract

In this paper

we deal with both velocity control and force control of a single-rod electro-hydraulic actuator subject to external disturbances and parameter uncertainties. In some implementations

both velocity control and force control are required. Impedance control and an extended disturbance observer are combined to solve this issue. Impedance control is applied to regulate the dynamic relationship between the velocity and output force of the actuator

which can help avoid impact and keep a proper contact force on the environment or workpieces. Parameters of impedance rules are regulated by a fuzzy algorithm. An extended disturbance observer is employed to account for external disturbances and parameter uncertainties to achieve an accurate velocity tracking. A detailed model of load force dynamics is presented for the development of the extended disturbance observer. The stability of the whole system is analyzed. Experimental results demonstrate that the proposed control strategy has not only a high velocity tracking performance

but also a good force adjustment performance

and that it should be widely applied in construction and assembly.

关键词

Keywords

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