Nonlinear model-based controller design for a hydraulic rack and pinion gear actuator

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    2 Citations (Scopus)

    Abstract

    Hydraulic manipulators are extensively utilized to move heavy loads in many industrial tasks. In commercial applications, a manipulator base is required to rotate a motion range of the full 360°. This is usually implemented by using a hydraulic rack and pinion gear actuator. Due to the manipulator’s long reach and heavy loads, manipulator tip acceleration can produce significant torque to the rotation gear in free-space motion. Imposed by nonlinear dynamical behavior (involving, e.g., the gear backlash and actuator friction) added to high inertia, a system closed-loop control design becomes a challenging task. An advanced closed-loop control enables to increase the automation-level of hydraulic manipulators. This study designs a novel subsystem-dynamics-based controller for a hydraulic rack and pinion gear actuator utilizing the control design principles of the virtual decomposition control (VDC) approach. An adaptive backlash compensation is incorporated in the control design. Furthermore, the proposed controller is implemented in previously-designed state-of-the-art hydraulic manipulator control. The stability of the overall control design is proven. Experiments with a full-scale commercial hydraulic manipulator demonstrate the effectiveness of the proposed adaptive backlash compensation and the overall control performance.
    Original languageEnglish
    Title of host publicationBATH/ASME 2018 Symposium on Fluid Power and Motion Control
    Subtitle of host publicationBath, UK, September 12–14, 2018
    PublisherASME
    Number of pages10
    ISBN (Electronic)978-0-7918-5196-8
    DOIs
    Publication statusPublished - Oct 2018
    Publication typeA4 Article in conference proceedings
    EventBATH/ASME Symposium on Fluid Power and Motion Control - Bath, United Kingdom
    Duration: 12 Sept 201814 Sept 2018

    Conference

    ConferenceBATH/ASME Symposium on Fluid Power and Motion Control
    Country/TerritoryUnited Kingdom
    CityBath
    Period12/09/1814/09/18

    Publication forum classification

    • Publication forum level 1

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